+ python -m lidar_slam --result /working/result.json --no-model /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6
Lidar SLAM 0.0.26
=====================================================
 The recording path: /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6
 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 0.026502481
Adjusted end_distance from 9.223372036854776e+18 to 208.076502481
Slamming from 0.026502481 to 208.076502481 meters!
 -=-=-> Lidar cleaning parameters file not found.
 --> Creating a generic default one.
=====================================================
Averaging over 500 frames

  0%|          | 0/32 [00:00<?, ?it/s]
  3%|▎         | 1/32 [00:02<01:26,  2.78s/it]
  6%|▋         | 2/32 [00:02<00:38,  1.27s/it]
  9%|▉         | 3/32 [00:03<00:23,  1.25it/s]
 12%|█▎        | 4/32 [00:03<00:16,  1.70it/s]
 16%|█▌        | 5/32 [00:03<00:12,  2.16it/s]
 19%|█▉        | 6/32 [00:03<00:10,  2.56it/s]
 22%|██▏       | 7/32 [00:04<00:08,  2.87it/s]
 25%|██▌       | 8/32 [00:04<00:07,  3.23it/s]
 28%|██▊       | 9/32 [00:04<00:06,  3.55it/s]
 31%|███▏      | 10/32 [00:04<00:05,  3.84it/s]
 34%|███▍      | 11/32 [00:05<00:05,  4.08it/s]
 38%|███▊      | 12/32 [00:05<00:04,  4.10it/s]
 41%|████      | 13/32 [00:05<00:04,  4.08it/s]
 44%|████▍     | 14/32 [00:05<00:04,  4.22it/s]
 47%|████▋     | 15/32 [00:06<00:03,  4.29it/s]
 50%|█████     | 16/32 [00:06<00:03,  4.28it/s]
 53%|█████▎    | 17/32 [00:06<00:03,  4.30it/s]
 56%|█████▋    | 18/32 [00:06<00:03,  4.40it/s]
 59%|█████▉    | 19/32 [00:06<00:02,  4.52it/s]
 62%|██████▎   | 20/32 [00:07<00:02,  4.57it/s]
 66%|██████▌   | 21/32 [00:07<00:02,  3.98it/s]
 69%|██████▉   | 22/32 [00:07<00:02,  4.09it/s]
 72%|███████▏  | 23/32 [00:07<00:02,  4.19it/s]
 75%|███████▌  | 24/32 [00:08<00:02,  3.72it/s]
 78%|███████▊  | 25/32 [00:08<00:01,  3.93it/s]
 81%|████████▏ | 26/32 [00:08<00:01,  4.07it/s]
 84%|████████▍ | 27/32 [00:08<00:01,  4.11it/s]
 88%|████████▊ | 28/32 [00:09<00:00,  4.17it/s]
 91%|█████████ | 29/32 [00:09<00:00,  4.26it/s]
 94%|█████████▍| 30/32 [00:09<00:00,  4.29it/s]
 97%|█████████▋| 31/32 [00:09<00:00,  4.60it/s]
100%|██████████| 32/32 [00:09<00:00,  3.23it/s]
Averaged over 500 frames
Shape size (median max width): 2.1964
=====================================================
 Detecting centerlines in parallel with 20 job(s)
Centerline goodness : 0.514408 with order 3
Centerline goodness : 0.417976 with order 1
Centerline goodness : 0.332642 with order 1
Centerline goodness : 0.480255 with order 1
Centerline goodness : 0.521807 with order 1
Centerline goodness : 0.526728 with order 1
Centerline goodness : 0.413294 with order 2
Centerline goodness : 0.758084 with order 3
Centerline goodness : 0.455694 with order 1
Centerline goodness : 0.654033 with order 2
Centerline goodness : 0.657483 with order 3
Centerline goodness : 0.145820 with order 1
Centerline goodness : 0.557786 with order 3
Centerline goodness : 0.702824 with order 3
Centerline goodness : 0.724942 with order 3
Centerline goodness : 0.594973 with order 1
Centerline goodness : 0.534644 with order 1
Centerline goodness : 0.684502 with order 3
Centerline goodness : 0.602063 with order 1
Centerline goodness : 0.422737 with order 3
SLAMing on frame at distance 0.026502481
Centerline is valid?  [0, False]
SLAMing on frame at distance 0.08650248099999999
Centerline is valid?  [False, False]
Translation: X:0.08, Y:-0.02, Z:-0.00
[[ 0.999969   -0.00710037 -0.00340487  0.08377341]
 [ 0.00729939  0.99801699  0.06252047 -0.0175854 ]
 [ 0.0029542  -0.06254339  0.99803787 -0.00295207]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.146502481
Centerline is valid?  [False, False]
Translation: X:0.18, Y:-0.02, Z:-0.01
[[ 9.99864930e-01  9.76815467e-04 -1.64062980e-02  1.76449678e-01]
 [ 6.12933756e-04  9.95321627e-01  9.66151248e-02 -2.17171017e-02]
 [ 1.64239184e-02 -9.66121310e-02  9.95186591e-01 -5.54418476e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.20650248099999996
Centerline is valid?  [False, False]
Translation: X:0.26, Y:-0.02, Z:-0.00
[[ 0.99975324 -0.01005832 -0.01980646  0.26397241]
 [ 0.01164635  0.99658339  0.08176745 -0.02140511]
 [ 0.01891634 -0.08197794  0.99645461 -0.0042629 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.26650248099999996
Centerline is valid?  [False, False]
Translation: X:0.35, Y:-0.02, Z:-0.01
[[ 0.99923723 -0.02359658 -0.03111529  0.34537378]
 [ 0.02650147  0.99497843  0.09651729 -0.01697989]
 [ 0.02868157 -0.09726827  0.99484484 -0.0072071 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.32650248099999996
Centerline is valid?  [False, False]
Translation: X:0.43, Y:-0.01, Z:-0.01
[[ 0.99862191 -0.02331467 -0.04701816  0.42520336]
 [ 0.02879864  0.99240984  0.11955482 -0.01281787]
 [ 0.0438739  -0.12074413  0.99171364 -0.01287441]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.38650248099999995
Centerline is valid?  [False, False]
Translation: X:0.50, Y:-0.01, Z:-0.01
[[ 0.99862    -0.01662522 -0.04981665  0.50413432]
 [ 0.02225232  0.99315987  0.11462244 -0.00750111]
 [ 0.04757028 -0.1155728   0.99215926 -0.0115319 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.44650248099999995
Centerline is valid?  [False, False]
Translation: X:0.57, Y:-0.00, Z:-0.00
[[ 9.98897743e-01 -1.97758752e-02 -4.25701145e-02  5.74826066e-01]
 [ 2.39305710e-02  9.94758574e-01  9.94118055e-02 -2.64280820e-05]
 [ 4.03810309e-02 -1.00320955e-01  9.94135342e-01 -4.37893311e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.506502481
Centerline is valid?  [False, False]
Translation: X:0.64, Y:0.01, Z:0.00
[[ 0.99876692 -0.03210953 -0.03786304  0.63794179]
 [ 0.03552383  0.99500868  0.09325117  0.00897582]
 [ 0.0346798  -0.09448122  0.99492241  0.00116796]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.5665024809999999
Centerline is valid?  [False, False]
Translation: X:0.70, Y:0.02, Z:0.00
[[ 0.9982183  -0.04572469 -0.03833369  0.70128876]
 [ 0.04883563  0.99521857  0.08458768  0.01610631]
 [ 0.03428265 -0.08630902  0.99567839  0.00432123]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.6265024809999998
Centerline is valid?  [False, False]
Translation: X:0.76, Y:0.03, Z:0.01
[[ 0.99814024 -0.04663249 -0.03926156  0.76308252]
 [ 0.04969104  0.9954816   0.08091471  0.02581293]
 [ 0.0353109  -0.08271518  0.99594746  0.00500721]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.6865024809999999
Centerline is valid?  [False, False]
Translation: X:0.81, Y:0.04, Z:0.01
[[ 0.9984261  -0.03975216 -0.03956132  0.80718862]
 [ 0.04290633  0.99567825  0.08236427  0.03801503]
 [ 0.03611619 -0.08393207  0.99581676  0.00521563]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.7465024809999998
Centerline is valid?  [False, False]
Translation: X:0.88, Y:0.09, Z:-0.00
[[ 9.98876650e-01  8.74845329e-03 -4.65714729e-02  8.82732641e-01]
 [-4.91370743e-03  9.96634404e-01  8.18273865e-02  9.20256903e-02]
 [ 4.71305952e-02 -8.15066272e-02  9.95557822e-01 -1.56848583e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.8065024809999999
Centerline is valid?  [False, False]
Translation: X:0.96, Y:0.17, Z:-0.00
[[ 0.99750783  0.04744155 -0.05222476  0.96109944]
 [-0.04370485  0.99655353  0.07050497  0.17346843]
 [ 0.05538963 -0.06804679  0.99614337 -0.00395314]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.8665024809999998
Centerline is valid?  [False, False]
Translation: X:1.02, Y:0.25, Z:-0.00
[[ 0.99765698  0.04623785 -0.05042436  1.0242772 ]
 [-0.04299065  0.99704369  0.06368422  0.25296072]
 [ 0.05321991 -0.06136723  0.99669539 -0.00335602]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.9265024809999999
Centerline is valid?  [False, False]
Translation: X:1.09, Y:0.31, Z:0.00
[[ 0.99899466  0.00423903 -0.04462849  1.08501287]
 [-0.00130881  0.99785278  0.06548364  0.3105869 ]
 [ 0.04481025 -0.0653594   0.99685515  0.00177239]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.9865024809999998
Centerline is valid?  [False, False]
Translation: X:1.11, Y:0.31, Z:0.00
[[ 0.99895281 -0.01842948 -0.04187638  1.10697632]
 [ 0.02140842  0.99718644  0.07183932  0.31253427]
 [ 0.04043459 -0.0726606   0.99653674  0.00465566]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.0465024809999999
Centerline is valid?  [False, False]
Translation: X:1.15, Y:0.31, Z:0.01
[[ 0.9988875  -0.02074373 -0.0423492   1.14639353]
 [ 0.02379364  0.99706029  0.07283295  0.31209338]
 [ 0.04071388 -0.07375956  0.99644463  0.00812662]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.106502481
Centerline is valid?  [False, False]
Translation: X:1.20, Y:0.32, Z:0.01
[[ 0.99915077 -0.01208073 -0.03939291  1.19954619]
 [ 0.01478232  0.99750527  0.06902702  0.31695979]
 [ 0.03846074 -0.06955072  0.99683673  0.01142026]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.166502481
Centerline is valid?  [False, False]
Translation: X:1.26, Y:0.32, Z:0.01
[[ 0.99922899 -0.01400646 -0.03667761  1.25605325]
 [ 0.01627082  0.99793204  0.06218449  0.32087355]
 [ 0.03573078 -0.06273332  0.99739052  0.01348608]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.897721 with order 1
Centerline goodness : 0.881452 with order 1
Centerline goodness : 0.863067 with order 1
Centerline goodness : 0.084973 with order 1
Centerline goodness : 0.061600 with order 1
Centerline goodness : 0.000000 with order 1
Centerline goodness : 0.083220 with order 1
Centerline goodness : 0.093171 with order 1
Centerline goodness : 0.000000 with order 1
Centerline goodness : 0.875253 with order 3
Centerline goodness : 0.086473 with order 1
Centerline goodness : 0.083537 with order 1
Centerline goodness : 0.083923 with order 1
Centerline goodness : 0.088384 with order 1
Centerline goodness : 0.000000 with order 1
Centerline goodness : 0.178064 with order 2
Centerline goodness : 0.867520 with order 1
Centerline goodness : 0.174729 with order 2
Centerline goodness : 0.404572 with order 2
Centerline goodness : 0.635395 with order 2
SLAMing on frame at distance 1.2265024809999998
Centerline is valid?  [False, False]
Translation: X:1.31, Y:0.33, Z:0.02
[[ 0.99929587 -0.02116211 -0.03098271  1.31454297]
 [ 0.02302821  0.99786184  0.06116744  0.32733815]
 [ 0.02962204 -0.06183785  0.99764654  0.01728332]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.2865024809999999
Centerline is valid?  [False, False]
Translation: X:1.35, Y:0.33, Z:0.02
[[ 0.99920407 -0.02451559 -0.03146776  1.35357025]
 [ 0.02626007  0.99806981  0.05627662  0.33337753]
 [ 0.03002737 -0.05705817  0.9979192   0.02028681]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.346502481
Centerline is valid?  [False, False]
Translation: X:1.41, Y:0.34, Z:0.02
[[ 0.99910567 -0.02629558 -0.03311207  1.41085925]
 [ 0.02790409  0.99840444  0.04909112  0.34451538]
 [ 0.03176836 -0.04997118  0.99824529  0.02258824]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.406502481
Centerline is valid?  [False, False]
Translation: X:1.47, Y:0.36, Z:0.02
[[ 0.99918907 -0.02332964 -0.03281676  1.47279601]
 [ 0.02483379  0.99862349  0.04619969  0.35800365]
 [ 0.03169376 -0.04697719  0.99839303  0.02443311]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.4665024809999998
Centerline is valid?  [False, False]
Translation: X:1.54, Y:0.37, Z:0.03
[[ 0.99931791 -0.01877467 -0.03179972  1.53653897]
 [ 0.02035744  0.9985315   0.0502037   0.37337571]
 [ 0.03081046 -0.05081682  0.99823262  0.02579506]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.5265024809999999
Centerline is valid?  [False, False]
Translation: X:1.60, Y:0.39, Z:0.03
[[ 0.99926423 -0.01812016 -0.03380328  1.596936  ]
 [ 0.01992112  0.99835704  0.05372489  0.38620825]
 [ 0.03277424 -0.05435876  0.99798345  0.02750611]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.586502481
Centerline is valid?  [False, False]
Translation: X:1.65, Y:0.39, Z:0.03
[[ 0.99916923 -0.02131564 -0.03473451  1.64959267]
 [ 0.02327297  0.99810533  0.05695718  0.39414998]
 [ 0.03345462 -0.05771824  0.99777221  0.02909415]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.6465024809999997
Centerline is valid?  [False, False]
Translation: X:1.69, Y:0.40, Z:0.03
[[ 0.99891638 -0.02642855 -0.03830913  1.69347247]
 [ 0.02863413  0.99789323  0.05821665  0.3976907 ]
 [ 0.03668984 -0.05925052  0.99756866  0.03182681]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.7065024809999998
Centerline is valid?  [False, False]
Translation: X:1.74, Y:0.40, Z:0.03
[[ 0.99876873 -0.02672874 -0.04179224  1.73739434]
 [ 0.02895968  0.99813598  0.05372052  0.40170962]
 [ 0.04027845 -0.05486467  0.99768107  0.03268651]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.7665024809999998
Centerline is valid?  [False, False]
Translation: X:1.78, Y:0.41, Z:0.03
[[ 0.99856876 -0.02875167 -0.04509735  1.78223118]
 [ 0.03105876  0.99819917  0.05132026  0.40574357]
 [ 0.0435406  -0.05264747  0.9976635   0.03446803]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.826502481
Centerline is valid?  [False, False]
Translation: X:1.82, Y:0.41, Z:0.04
[[ 0.99853394 -0.02794475 -0.0463579   1.82474177]
 [ 0.03019859  0.99835915  0.04865236  0.40859641]
 [ 0.04492226 -0.04998097  0.99773939  0.03607741]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.8865024809999997
Centerline is valid?  [False, False]
Translation: X:1.88, Y:0.41, Z:0.04
[[ 0.9984065  -0.03127649 -0.04697072  1.87500653]
 [ 0.03360865  0.998198    0.04971121  0.41142809]
 [ 0.04533129 -0.05121062  0.99765853  0.03851524]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.9465024809999998
Centerline is valid?  [False, False]
Translation: X:1.93, Y:0.42, Z:0.04
[[ 0.99858084 -0.02946209 -0.04436548  1.92861644]
 [ 0.03176003  0.99814119  0.05201417  0.41592645]
 [ 0.04275057 -0.0533494   0.99766038  0.04225456]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.0065024809999996
Centerline is valid?  [False, False]
Translation: X:1.98, Y:0.42, Z:0.05
[[ 0.99868714 -0.03251682 -0.03958094  1.98327138]
 [ 0.0347312   0.99779225  0.05660724  0.41932678]
 [ 0.03765287 -0.05790761  0.99761163  0.047681  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.0665024809999997
Centerline is valid?  [False, False]
Translation: X:2.04, Y:0.42, Z:0.05
[[ 0.99861518 -0.0372272  -0.03717335  2.04084989]
 [ 0.03923161  0.99773005  0.05473235  0.42346235]
 [ 0.03505144 -0.05611493  0.99780885  0.05242187]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.1265024809999997
Centerline is valid?  [False, False]
Translation: X:2.10, Y:0.43, Z:0.06
[[ 0.99853893 -0.0403826  -0.03590624  2.10175805]
 [ 0.04221602  0.99776163  0.05186081  0.42969145]
 [ 0.03373159 -0.05330085  0.99800862  0.05503011]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.1865024809999998
Centerline is valid?  [False, False]
Translation: X:2.16, Y:0.43, Z:0.06
[[ 0.9982888  -0.04496576 -0.03738396  2.16462814]
 [ 0.0468209   0.99763476  0.05032574  0.43477298]
 [ 0.03503261 -0.05198998  0.99803294  0.05670474]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.246502481
Centerline is valid?  [False, False]
Translation: X:2.22, Y:0.44, Z:0.06
[[ 0.99818778 -0.04864221 -0.0354273   2.22322984]
 [ 0.05043303  0.99739649  0.05154374  0.44045906]
 [ 0.03282786 -0.05323704  0.99804216  0.05918751]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.306502481
Centerline is valid?  [False, False]
Translation: X:2.28, Y:0.45, Z:0.06
[[ 0.99813968 -0.05066094 -0.03392113  2.28299082]
 [ 0.05235937  0.99731445  0.05120929  0.44707497]
 [ 0.03123572 -0.05289011  0.9981117   0.06215107]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.366502481
Centerline is valid?  [False, False]
Translation: X:2.34, Y:0.45, Z:0.06
[[ 0.99802036 -0.05313499 -0.03364578  2.3435829 ]
 [ 0.05487213  0.99708555  0.05300422  0.45495243]
 [ 0.03073135 -0.05474551  0.99802731  0.06448099]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.986581 with order 1
Centerline goodness : 0.997424 with order 1
Centerline goodness : 0.976027 with order 1
Centerline goodness : 0.951491 with order 1
Centerline goodness : 0.919378 with order 1
Centerline goodness : 0.952901 with order 1
Centerline goodness : 0.990898 with order 1
Centerline goodness : 0.947080 with order 1
Centerline goodness : 0.909266 with order 1
Centerline goodness : 0.980191 with order 1
Centerline goodness : 0.977793 with order 1
Centerline goodness : 0.949153 with order 1
Centerline goodness : 0.946949 with order 1
Centerline goodness : 0.942927 with order 1
Centerline goodness : 0.982647 with order 1
Centerline goodness : 0.955771 with order 1
Centerline goodness : 0.968096 with order 1
Centerline goodness : 0.967836 with order 1
Centerline goodness : 0.925257 with order 1
Centerline goodness : 0.964271 with order 1
SLAMing on frame at distance 2.4265024809999995
Centerline is valid?  [False, False]
Translation: X:2.41, Y:0.46, Z:0.07
[[ 0.99786703 -0.05721602 -0.03142788  2.40537868]
 [ 0.05878754  0.99693647  0.05159169  0.46148982]
 [ 0.02837973 -0.05332921  0.99817363  0.06625978]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.4865024809999996
Centerline is valid?  [False, False]
Translation: X:2.47, Y:0.47, Z:0.07
[[ 0.99761883 -0.06151172 -0.03119263  2.46676956]
 [ 0.06303414  0.99673638  0.05043102  0.46782224]
 [ 0.02798873 -0.05227713  0.99824032  0.06703935]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.5465024809999997
Centerline is valid?  [False, False]
Translation: X:2.53, Y:0.47, Z:0.07
[[ 0.99752917 -0.06232085 -0.03242942  2.52686137]
 [ 0.06384355  0.99679266  0.04825349  0.47392481]
 [ 0.02931821 -0.05020467  0.99830854  0.0667023 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.6065024809999997
Centerline is valid?  [False, False]
Translation: X:2.59, Y:0.49, Z:0.07
[[ 0.99763679 -0.05991423 -0.03363204  2.58988402]
 [ 0.06163563  0.99670531  0.05272171  0.48516549]
 [ 0.03036245 -0.05467004  0.99804274  0.06752224]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.6665024809999998
Centerline is valid?  [False, False]
Translation: X:2.65, Y:0.50, Z:0.07
[[ 0.99759217 -0.05999831 -0.03478612  2.65321811]
 [ 0.06177937  0.99670221  0.05261201  0.49631513]
 [ 0.03151477 -0.05463439  0.99800897  0.06910017]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.726502481
Centerline is valid?  [False, False]
Translation: X:2.71, Y:0.51, Z:0.07
[[ 0.99722347 -0.06463173 -0.03698778  2.71333707]
 [ 0.06631199  0.99673053  0.04616249  0.50723831]
 [ 0.03388329 -0.04848705  0.99824893  0.07065362]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.786502481
Centerline is valid?  [False, False]
Translation: X:2.77, Y:0.52, Z:0.07
[[ 0.99675762 -0.07116743 -0.03754253  2.77286761]
 [ 0.0727922   0.99638277  0.04384838  0.51920945]
 [ 0.03428615 -0.04643901  0.99833255  0.07248721]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.8465024809999995
Centerline is valid?  [False, True]
Translation: X:2.84, Y:0.53, Z:0.08
[[ 0.99581863 -0.08259035 -0.03903955  2.84012096]
 [ 0.08431916  0.99542531  0.04493038  0.53072264]
 [ 0.03515014 -0.04803429  0.99822702  0.07518678]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.9065024809999995
Centerline is valid?  [True, True]
Translation: X:2.90, Y:0.54, Z:0.10
[[ 9.96102713e-01 -8.24199102e-02 -3.14061013e-02  2.90069908e+00]
 [ 8.23079829e-02  9.96595177e-01 -4.84236868e-03  5.40829809e-01]
 [ 3.16982767e-02  2.23852373e-03  9.99494977e-01  1.03483998e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.9665024809999996
Centerline is valid?  [True, True]
Translation: X:2.96, Y:0.56, Z:0.11
[[ 9.96200574e-01 -8.12280658e-02 -3.14073024e-02  2.96094358e+00]
 [ 8.11157941e-02  9.96692959e-01 -4.83456562e-03  5.55578356e-01]
 [ 3.16961396e-02  2.26856876e-03  9.99494977e-01  1.05444277e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.0265024809999996
Centerline is valid?  [True, True]
Translation: X:3.02, Y:0.58, Z:0.11
[[ 9.95544699e-01 -8.89059298e-02 -3.14084060e-02  3.01910222e+00]
 [ 8.87976831e-02  9.96037985e-01 -4.82738548e-03  5.76204433e-01]
 [ 3.17131486e-02  2.01688435e-03  9.99494977e-01  1.07367645e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.0865024809999997
Centerline is valid?  [True, True]
Translation: X:3.08, Y:0.61, Z:0.11
[[ 9.95184325e-01 -9.28529391e-02 -3.14084433e-02  3.07595591e+00]
 [ 9.27466569e-02  9.95678038e-01 -4.82714282e-03  6.09246808e-01]
 [ 3.17209116e-02  1.89086876e-03  9.99494977e-01  1.09313682e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.1465024809999997
Centerline is valid?  [True, True]
Translation: X:3.13, Y:0.63, Z:0.11
[[ 9.95318834e-01 -9.13997948e-02 -3.14085259e-02  3.13489478e+00]
 [ 9.12928088e-02  9.95812395e-01 -4.82660501e-03  6.27944954e-01]
 [ 3.17181502e-02  1.93663832e-03  9.99494977e-01  1.11255787e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.206502481
Centerline is valid?  [True, True]
Translation: X:3.19, Y:0.67, Z:0.11
[[ 9.95491749e-01 -8.94968016e-02 -3.14086082e-02  3.19038280e+00]
 [ 8.93888891e-02  9.95985108e-01 -4.82606960e-03  6.66662903e-01]
 [ 3.17144238e-02  1.99673187e-03  9.99494977e-01  1.13186108e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.2665024809999994
Centerline is valid?  [True, True]
Translation: X:3.25, Y:0.69, Z:0.12
[[ 9.95128822e-01 -9.34458297e-02 -3.14086617e-02  3.24777889e+00]
 [ 9.33398865e-02  9.95622608e-01 -4.82572121e-03  6.91952576e-01]
 [ 3.17221172e-02  1.87053334e-03  9.99494977e-01  1.15111643e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.3265024809999995
Centerline is valid?  [True, True]
Translation: X:3.31, Y:0.71, Z:0.12
[[ 9.94808406e-01 -9.67973565e-02 -3.14087065e-02  3.30744120e+00]
 [ 9.66930863e-02  9.95302548e-01 -4.82543022e-03  7.11559747e-01]
 [ 3.17282545e-02  1.76337378e-03  9.99494977e-01  1.17080984e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.3865024809999995
Centerline is valid?  [True, True]
Translation: X:3.37, Y:0.73, Z:0.12
[[ 9.94632945e-01 -9.85838897e-02 -3.14089474e-02  3.36663088e+00]
 [ 9.84805565e-02  9.95127283e-01 -4.82386125e-03  7.28957117e-01]
 [ 3.17314555e-02  1.70480070e-03  9.99494977e-01  1.19023972e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.4465024809999996
Centerline is valid?  [True, True]
Translation: X:3.43, Y:0.74, Z:0.12
[[ 9.95713100e-01 -8.69994124e-02 -3.14089869e-02  3.42529288e+00]
 [ 8.68903400e-02  9.96206204e-01 -4.82360425e-03  7.44624660e-01]
 [ 3.17094783e-02  2.07378840e-03  9.99494977e-01  1.20942863e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.5065024809999996
Centerline is valid?  [True, True]
Translation: X:3.48, Y:0.76, Z:0.12
[[ 9.97373422e-01 -6.52665659e-02 -3.14090998e-02  3.48341685e+00]
 [ 6.51467900e-02  9.97864037e-01 -4.82286889e-03  7.61798364e-01]
 [ 3.16567832e-02  2.76399922e-03  9.99494977e-01  1.22851795e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.5665024809999997
Centerline is valid?  [True, True]
Translation: X:3.54, Y:0.78, Z:0.12
[[ 9.97601889e-01 -6.16760450e-02 -3.14091890e-02  3.54293648e+00]
 [ 6.15545221e-02  9.98092073e-01 -4.82228799e-03  7.79068753e-01]
 [ 3.16466822e-02  2.87734599e-03  9.99494977e-01  1.24805143e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999770 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 3.6265024809999997
Centerline is valid?  [True, True]
Translation: X:3.60, Y:0.79, Z:0.13
[[ 9.96735450e-01 -7.43767303e-02 -3.14093158e-02  3.60255631e+00]
 [ 7.42614862e-02  9.97227148e-01 -4.82146198e-03  7.88790571e-01]
 [ 3.16808270e-02  2.47321961e-03  9.99494977e-01  1.26725051e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.6865024809999993
Centerline is valid?  [True, True]
Translation: X:3.66, Y:0.80, Z:0.13
[[ 9.96261363e-01 -8.04782500e-02 -3.14093545e-02  3.66197631e+00]
 [ 8.03660265e-02  9.96753760e-01 -4.82120948e-03  7.97574994e-01]
 [ 3.16953947e-02  2.27893971e-03  9.99494977e-01  1.28634541e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.7465024809999994
Centerline is valid?  [True, True]
Translation: X:3.72, Y:0.80, Z:0.13
[[ 9.96035194e-01 -8.32306768e-02 -3.14093473e-02  3.72208533e+00]
 [ 8.31198128e-02  9.96527898e-01 -4.82125670e-03  8.03401095e-01]
 [ 3.17015673e-02  2.19140229e-03  9.99494977e-01  1.30551615e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.8065024809999994
Centerline is valid?  [True, True]
Translation: X:3.78, Y:0.81, Z:0.13
[[ 9.95940684e-01 -8.43540467e-02 -3.14093767e-02  3.78491405e+00]
 [ 8.42437445e-02  9.96433515e-01 -4.82106510e-03  8.11241566e-01]
 [ 3.17040320e-02  2.15545137e-03  9.99494977e-01  1.32563714e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.8665024809999995
Centerline is valid?  [True, True]
Translation: X:3.84, Y:0.82, Z:0.13
[[ 9.96462661e-01 -7.79456582e-02 -3.14108072e-02  3.84440196e+00]
 [ 7.78324808e-02  9.96954840e-01 -4.81172717e-03  8.23155933e-01]
 [ 3.16902094e-02  2.34992542e-03  9.99494977e-01  1.34484366e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.9265024809999995
Centerline is valid?  [True, True]
Translation: X:3.90, Y:0.83, Z:0.14
[[ 9.95923027e-01 -8.45616839e-02 -3.14109048e-02  3.90400910e+00]
 [ 8.44517977e-02  9.96415951e-01 -4.81108951e-03  8.32635866e-01]
 [ 3.17051604e-02  2.13876745e-03  9.99494977e-01  1.36402832e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.9865024809999996
Centerline is valid?  [True, True]
Translation: X:3.97, Y:0.84, Z:0.14
[[ 9.95875021e-01 -8.51251860e-02 -3.14109058e-02  3.96533057e+00]
 [ 8.50155788e-02  9.96368007e-01 -4.81108340e-03  8.40842073e-01]
 [ 3.17063659e-02  2.12082145e-03  9.99494977e-01  1.38369465e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.046502480999999
Centerline is valid?  [True, True]
Translation: X:4.03, Y:0.85, Z:0.14
[[ 9.95869600e-01 -8.51884485e-02 -3.14112773e-02  4.02693476e+00]
 [ 8.50789489e-02  9.96362609e-01 -4.80865662e-03  8.48410911e-01]
 [ 3.17066642e-02  2.11635649e-03  9.99494977e-01  1.40340304e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.106502480999999
Centerline is valid?  [True, True]
Translation: X:4.09, Y:0.86, Z:0.14
[[ 9.95948875e-01 -8.42564413e-02 -3.14116168e-02  4.08722929e+00]
 [ 8.41465501e-02  9.96441798e-01 -4.80643782e-03  8.56839316e-01]
 [ 3.17048212e-02  2.14378716e-03  9.99494977e-01  1.42274263e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.166502480999999
Centerline is valid?  [True, True]
Translation: X:4.15, Y:0.86, Z:0.14
[[ 9.95474948e-01 -8.96823725e-02 -3.14117876e-02  4.14722662e+00]
 [ 8.95752040e-02  9.95968469e-01 -4.80532137e-03  8.63914217e-01]
 [ 3.17161026e-02  1.96985976e-03  9.99494977e-01  1.44193111e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.226502480999999
Centerline is valid?  [True, True]
Translation: X:4.21, Y:0.87, Z:0.15
[[ 9.94325581e-01 -1.01636284e-01 -3.14118416e-02  4.20785870e+00]
 [ 1.01535064e-01  9.94820357e-01 -4.80496816e-03  8.70509438e-01]
 [ 3.17374986e-02  1.58829941e-03  9.99494977e-01  1.46130110e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.286502480999999
Centerline is valid?  [True, True]
Translation: X:4.27, Y:0.88, Z:0.15
[[ 9.93913632e-01 -1.05588755e-01 -3.14118963e-02  4.26790061e+00]
 [ 1.05489514e-01  9.94408808e-01 -4.80461034e-03  8.75881793e-01]
 [ 3.17435792e-02  1.46174203e-03  9.99494977e-01  1.48042682e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.346502480999999
Centerline is valid?  [True, True]
Translation: X:4.33, Y:0.88, Z:0.15
[[ 9.93834146e-01 -1.06334288e-01 -3.14119228e-02  4.32991174e+00]
 [ 1.06235424e-01  9.94329398e-01 -4.80443699e-03  8.84679906e-01]
 [ 3.17446747e-02  1.43775458e-03  9.99494977e-01  1.50033733e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.406502480999999
Centerline is valid?  [True, True]
Translation: X:4.39, Y:0.89, Z:0.15
[[ 9.94285550e-01 -1.02026799e-01 -3.14130244e-02  4.39207511e+00]
 [ 1.01926017e-01  9.94780415e-01 -4.79722390e-03  8.88505097e-01]
 [ 3.17385068e-02  1.56800593e-03  9.99494977e-01  1.52001087e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.466502480999999
Centerline is valid?  [True, True]
Translation: X:4.45, Y:0.89, Z:0.15
[[ 9.94892081e-01 -9.59317447e-02 -3.14141156e-02  4.45263840e+00]
 [ 9.58281576e-02  9.95386367e-01 -4.79006731e-03  8.94170387e-01]
 [ 3.17287019e-02  1.75524321e-03  9.99494977e-01  1.53927085e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.526502480999999
Centerline is valid?  [True, True]
Translation: X:4.51, Y:0.90, Z:0.16
[[ 9.95651104e-01 -8.77042153e-02 -3.14141583e-02  4.51195623e+00]
 [ 8.75965545e-02  9.96144518e-01 -4.78978771e-03  9.01271726e-01]
 [ 3.17131261e-02  2.01718540e-03  9.99494977e-01  1.55825296e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.586502480999999
Centerline is valid?  [True, True]
Translation: X:4.57, Y:0.91, Z:0.16
[[ 9.95780000e-01 -8.62283878e-02 -3.14142767e-02  4.57283569e+00]
 [ 8.61200201e-02  9.96273259e-01 -4.78901074e-03  9.10413383e-01]
 [ 3.17101525e-02  2.06340297e-03  9.99494977e-01  1.57782047e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.646502480999999
Centerline is valid?  [True, True]
Translation: X:4.63, Y:0.91, Z:0.16
[[ 9.95903472e-01 -8.47903740e-02 -3.14144273e-02  4.63498944e+00]
 [ 8.46813252e-02  9.96396582e-01 -4.78802268e-03  9.13925315e-01]
 [ 3.17072062e-02  2.10819308e-03  9.99494977e-01  1.59751745e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.706502480999999
Centerline is valid?  [True, True]
Translation: X:4.69, Y:0.93, Z:0.16
[[ 9.95110537e-01 -9.36380649e-02 -3.14154720e-02  4.69369724e+00]
 [ 9.35336189e-02  9.95604642e-01 -4.78115860e-03  9.25108273e-01]
 [ 3.17250881e-02  1.81937852e-03  9.99494977e-01  1.61646116e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.766502480999999
Centerline is valid?  [True, True]
Translation: X:4.75, Y:0.93, Z:0.16
[[ 9.95188552e-01 -9.28052300e-02 -3.14155126e-02  4.75398533e+00]
 [ 9.27003788e-02  9.95682571e-01 -4.78089169e-03  9.33614411e-01]
 [ 3.17235701e-02  1.84565876e-03  9.99494977e-01  1.63581570e-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 4.826502480999999
Centerline is valid?  [True, True]
Translation: X:4.81, Y:0.94, Z:0.17
[[ 9.95690287e-01 -8.72577433e-02 -3.14155848e-02  4.81351164e+00]
 [ 8.71501556e-02  9.96183717e-01 -4.78041674e-03  9.42791203e-01]
 [ 3.17128225e-02  2.02194141e-03  9.99494977e-01  1.65496155e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.886502480999999
Centerline is valid?  [True, True]
Translation: X:4.87, Y:0.95, Z:0.17
[[ 9.96185330e-01 -8.14115955e-02 -3.14156235e-02  4.87244486e+00]
 [ 8.13011213e-02  9.96678121e-01 -4.78016279e-03  9.51947446e-01]
 [ 3.17004253e-02  2.20780263e-03  9.99494977e-01  1.67392142e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.946502480999999
Centerline is valid?  [True, True]
Translation: X:4.93, Y:0.96, Z:0.17
[[ 9.96479026e-01 -7.77340856e-02 -3.14159477e-02  4.93218795e+00]
 [ 7.76218601e-02  9.96971422e-01 -4.77803123e-03  9.61103755e-01]
 [ 3.16922179e-02  2.32264362e-03  9.99494977e-01  1.69312380e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.006502480999999
Centerline is valid?  [True, True]
Translation: X:4.99, Y:0.97, Z:0.17
[[ 9.96711872e-01 -7.46892295e-02 -3.14159833e-02  4.99208852e+00]
 [ 7.45755074e-02  9.97203924e-01 -4.77779671e-03  9.69019306e-01]
 [ 3.16849918e-02  2.41922380e-03  9.99494977e-01  1.71232854e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.066502480999999
Centerline is valid?  [True, True]
Translation: X:5.05, Y:0.98, Z:0.17
[[ 9.96841053e-01 -7.29448300e-02 -3.14160308e-02  5.05355000e+00]
 [ 7.28302568e-02  9.97332908e-01 -4.77748438e-03  9.77369819e-01]
 [ 3.16807342e-02  2.47435497e-03  9.99494977e-01  1.73204420e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.126502480999999
Centerline is valid?  [True, True]
Translation: X:5.12, Y:0.98, Z:0.18
[[ 9.96843758e-01 -7.29072437e-02 -3.14174406e-02  5.11552841e+00]
 [ 7.27929428e-02  9.97335677e-01 -4.76819555e-03  9.79997037e-01]
 [ 3.16813704e-02  2.46617802e-03  9.99494977e-01  1.75159199e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.186502480999999
Centerline is valid?  [True, True]
Translation: X:5.18, Y:0.98, Z:0.18
[[ 9.96702192e-01 -7.48175425e-02 -3.14177479e-02  5.17817547e+00]
 [ 7.47042481e-02  9.97194344e-01 -4.76617012e-03  9.82897594e-01]
 [ 3.16861936e-02  2.40341297e-03  9.99494977e-01  1.77140973e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.2465024809999985
Centerline is valid?  [True, True]
Translation: X:5.24, Y:0.99, Z:0.18
[[ 9.96124574e-01 -8.21502915e-02 -3.14191577e-02  5.23852710e+00]
 [ 8.20409142e-02  9.96617610e-01 -4.75685830e-03  9.89379740e-01]
 [ 3.17036631e-02  2.16076703e-03  9.99494977e-01  1.79063144e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.306502480999999
Centerline is valid?  [True, True]
Translation: X:5.30, Y:0.99, Z:0.18
[[ 9.95598044e-01 -8.83027082e-02 -3.14192140e-02  5.29926510e+00]
 [ 8.81963907e-02  9.96091749e-01 -4.75648624e-03  9.92051800e-01]
 [ 3.17164304e-02  1.96448713e-03  9.99494977e-01  1.80984932e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.366502480999999
Centerline is valid?  [True, True]
Translation: X:5.36, Y:1.00, Z:0.18
[[ 9.95802917e-01 -8.59615184e-02 -3.14192140e-02  5.36146368e+00]
 [ 8.58540403e-02  9.96296371e-01 -4.75648624e-03  9.97640423e-01]
 [ 3.17117237e-02  2.03905641e-03  9.99494977e-01  1.82966746e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.426502480999999
Centerline is valid?  [True, True]
Translation: X:5.42, Y:1.01, Z:0.18
[[ 9.96034959e-01 -8.32296059e-02 -3.14196249e-02  5.42201406e+00]
 [ 8.31208599e-02  9.96528135e-01 -4.75377021e-03  1.00546526e+00]
 [ 3.17061947e-02  2.12329507e-03  9.99494977e-01  1.84905727e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.486502480999999
Centerline is valid?  [True, True]
Translation: X:5.48, Y:1.01, Z:0.19
[[ 9.96014921e-01 -8.34690211e-02 -3.14197269e-02  5.48286254e+00]
 [ 8.33604148e-02  9.96508128e-01 -4.75309627e-03  1.01192263e+00]
 [ 3.17067495e-02  2.11499334e-03  9.99494977e-01  1.86848831e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.546502480999999
Centerline is valid?  [True, True]
Translation: X:5.55, Y:1.02, Z:0.19
[[ 9.95866187e-01 -8.52251484e-02 -3.14199288e-02  5.54527476e+00]
 [ 8.51174539e-02  9.96359594e-01 -4.75176143e-03  1.01852854e+00]
 [ 3.17105170e-02  2.05773420e-03  9.99494977e-01  1.88841401e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.606502480999999
Centerline is valid?  [True, True]
Translation: X:5.61, Y:1.03, Z:0.19
[[ 9.95954259e-01 -8.41894915e-02 -3.14204234e-02  5.60719252e+00]
 [ 8.40813867e-02  9.96447576e-01 -4.74848852e-03  1.02755606e+00]
 [ 3.17085776e-02  2.08740459e-03  9.99494977e-01  1.90828768e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.666502480999998
Centerline is valid?  [True, True]
Translation: X:5.67, Y:1.04, Z:0.19
[[ 9.96332044e-01 -7.95935333e-02 -3.14217823e-02  5.66656094e+00]
 [ 7.94834363e-02  9.96824920e-01 -4.73947935e-03  1.03888698e+00]
 [ 3.16992475e-02  2.22458391e-03  9.99494977e-01  1.92743434e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.726502480999999
Centerline is valid?  [True, True]
Translation: X:5.73, Y:1.05, Z:0.19
[[ 9.96823660e-01 -7.31796323e-02 -3.14218369e-02  5.72552245e+00]
 [ 7.30663769e-02  9.97315820e-01 -4.73911718e-03  1.04891438e+00]
 [ 3.16843019e-02  2.42818435e-03  9.99494977e-01  1.94644373e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.7865024809999985
Centerline is valid?  [True, True]
Translation: X:5.79, Y:1.06, Z:0.20
[[ 9.96940310e-01 -7.15727564e-02 -3.14222692e-02  5.78526313e+00]
 [ 7.14587976e-02  9.97432308e-01 -4.73624900e-03  1.06057171e+00]
 [ 3.16805729e-02  2.47635997e-03  9.99494977e-01  1.96575998e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.846502480999999
Centerline is valid?  [True, True]
Translation: X:5.85, Y:1.07, Z:0.20
[[ 9.96779712e-01 -7.37756078e-02 -3.14223739e-02  5.84629064e+00]
 [ 7.36627584e-02  9.97271965e-01 -4.73555453e-03  1.07152360e+00]
 [ 3.16860210e-02  2.40564595e-03  9.99494977e-01  1.98546060e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.906502480999999
Centerline is valid?  [True, True]
Translation: X:5.91, Y:1.08, Z:0.20
[[ 9.96848146e-01 -7.28449667e-02 -3.14226873e-02  5.90774079e+00]
 [ 7.27317228e-02  9.97340308e-01 -4.73347416e-03  1.07900446e+00]
 [ 3.16839224e-02  2.43312876e-03  9.99494977e-01  2.00512113e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.966502480999999
Centerline is valid?  [True, True]
Translation: X:5.97, Y:1.09, Z:0.20
[[ 9.96907300e-01 -7.20307572e-02 -3.14229973e-02  5.96994264e+00]
 [ 7.19171759e-02  9.97399385e-01 -4.73141487e-03  1.08586975e+00]
 [ 3.16820856e-02  2.45692880e-03  9.99494977e-01  2.02498905e-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 6.026502480999999
Centerline is valid?  [True, True]
Translation: X:6.03, Y:1.09, Z:0.20
[[ 9.97363143e-01 -6.54160934e-02 -3.14244594e-02  6.02986492e+00]
 [ 6.52995547e-02  9.97854535e-01 -4.72168461e-03  1.09480502e+00]
 [ 3.16659135e-02  2.65723100e-03  9.99494977e-01  2.04419146e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.086502480999998
Centerline is valid?  [True, True]
Translation: X:6.09, Y:1.11, Z:0.21
[[ 9.96942756e-01 -7.15376937e-02 -3.14245033e-02  6.08772135e+00]
 [ 7.14241831e-02  9.97434857e-01 -4.72139243e-03  1.11009687e+00]
 [ 3.16816524e-02  2.46248851e-03  9.99494977e-01  2.06310231e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.146502480999999
Centerline is valid?  [True, True]
Translation: X:6.15, Y:1.11, Z:0.21
[[ 9.97092128e-01 -6.94247542e-02 -3.14243923e-02  6.14958577e+00]
 [ 6.93101778e-02  9.97583982e-01 -4.72213053e-03  1.11430093e+00]
 [ 3.16763032e-02  2.53036896e-03  9.99494977e-01  2.08275583e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.2065024809999985
Centerline is valid?  [True, True]
Translation: X:6.21, Y:1.12, Z:0.21
[[ 9.97142746e-01 -6.86933201e-02 -3.14256707e-02  6.20968327e+00]
 [ 6.85786498e-02  9.97634578e-01 -4.71360738e-03  1.12229735e+00]
 [ 3.16751291e-02  2.54500934e-03  9.99494977e-01  2.10197629e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.266502480999999
Centerline is valid?  [True, True]
Translation: X:6.27, Y:1.13, Z:0.21
[[ 9.96969453e-01 -7.11640705e-02 -3.14258695e-02  6.26931178e+00]
 [ 7.10506609e-02  9.97461577e-01 -4.71228211e-03  1.13102952e+00]
 [ 3.16814425e-02  2.46517252e-03  9.99494977e-01  2.12112812e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.326502480999999
Centerline is valid?  [True, True]
Translation: X:6.33, Y:1.15, Z:0.21
[[ 9.96418617e-01 -7.85006716e-02 -3.14258648e-02  6.32872062e+00]
 [ 7.83908865e-02  9.96911562e-01 -4.71231304e-03  1.14800646e+00]
 [ 3.16987277e-02  2.23193504e-03  9.99494977e-01  2.14060790e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.386502480999999
Centerline is valid?  [True, True]
Translation: X:6.39, Y:1.15, Z:0.22
[[ 9.96370370e-01 -7.91106334e-02 -3.14260147e-02  6.39029928e+00]
 [ 7.90011815e-02  9.96863389e-01 -4.71131322e-03  1.15369444e+00]
 [ 3.17001585e-02  2.21152060e-03  9.99494977e-01  2.16023131e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.446502480999999
Centerline is valid?  [True, True]
Translation: X:6.45, Y:1.16, Z:0.22
[[ 9.96296121e-01 -8.00397072e-02 -3.14274575e-02  6.45125774e+00]
 [ 7.99310178e-02  9.96789309e-01 -4.70166897e-03  1.16087525e+00]
 [ 3.17028739e-02  2.17222589e-03  9.99494977e-01  2.17967702e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.506502480999998
Centerline is valid?  [True, True]
Translation: X:6.51, Y:1.17, Z:0.22
[[ 9.96330277e-01 -7.96133198e-02 -3.14276637e-02  6.51345806e+00]
 [ 7.95044626e-02  9.96823429e-01 -4.70029064e-03  1.16856672e+00]
 [ 3.17020372e-02  2.18440237e-03  9.99494977e-01  2.19958824e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.566502480999999
Centerline is valid?  [True, True]
Translation: X:6.57, Y:1.17, Z:0.22
[[ 9.95771393e-01 -8.63226638e-02 -3.14281970e-02  6.57448317e+00]
 [ 8.62172430e-02  9.96265290e-01 -4.69672169e-03  1.17027958e+00]
 [ 3.17162554e-02  1.96720860e-03  9.99494977e-01  2.21883562e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.626502480999998
Centerline is valid?  [True, True]
Translation: X:6.63, Y:1.18, Z:0.22
[[ 9.96018187e-01 -8.34268480e-02 -3.14282147e-02  6.63453386e+00]
 [ 8.33199953e-02  9.96511776e-01 -4.69660356e-03  1.17882152e+00]
 [ 3.17104089e-02  2.05930386e-03  9.99494977e-01  2.23811869e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.686502480999999
Centerline is valid?  [True, True]
Translation: X:6.69, Y:1.19, Z:0.23
[[ 9.96560842e-01 -7.66730158e-02 -3.14282665e-02  6.69408210e+00]
 [ 7.65628304e-02  9.97053699e-01 -4.69625662e-03  1.18678562e+00]
 [ 3.16957455e-02  2.27386842e-03  9.99494977e-01  2.25721523e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.7465024809999985
Centerline is valid?  [True, True]
Translation: X:6.76, Y:1.19, Z:0.23
[[ 9.97082941e-01 -6.95547407e-02 -3.14284446e-02  6.75540292e+00]
 [ 6.94410760e-02  9.97575006e-01 -4.69506478e-03  1.19042461e+00]
 [ 3.16787948e-02  2.49894399e-03  9.99494977e-01  2.27666088e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.806502480999999
Centerline is valid?  [True, True]
Translation: X:6.82, Y:1.20, Z:0.23
[[ 9.97028791e-01 -7.03266096e-02 -3.14286284e-02  6.81509566e+00]
 [ 7.02133644e-02  9.97520953e-01 -4.69383379e-03  1.20499868e+00]
 [ 3.16808168e-02  2.47317768e-03  9.99494977e-01  2.29610802e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.866502480999999
Centerline is valid?  [True, True]
Translation: X:6.88, Y:1.21, Z:0.23
[[ 9.97042685e-01 -7.01290007e-02 -3.14294027e-02  6.87635094e+00]
 [ 7.00158206e-02  9.97534862e-01 -4.68864367e-03  1.20806873e+00]
 [ 3.16807348e-02  2.47422246e-03  9.99494977e-01  2.31548255e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.926502480999998
Centerline is valid?  [True, True]
Translation: X:6.94, Y:1.22, Z:0.23
[[ 9.96503577e-01 -7.74131799e-02 -3.14296012e-02  6.93562056e+00]
 [ 7.73036412e-02  9.96996578e-01 -4.68731274e-03  1.22453765e+00]
 [ 3.16980646e-02  2.24130130e-03  9.99494977e-01  2.33488454e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.986502480999999
Centerline is valid?  [True, True]
Translation: X:7.00, Y:1.23, Z:0.24
[[ 9.96584851e-01 -7.63597491e-02 -3.14296450e-02  6.99654755e+00]
 [ 7.62496986e-02  9.97077738e-01 -4.68701920e-03  1.23014773e+00]
 [ 3.16956989e-02  2.27451138e-03  9.99494977e-01  2.35430465e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.046502480999998
Centerline is valid?  [True, True]
Translation: X:7.06, Y:1.24, Z:0.24
[[ 9.96277089e-01 -8.02753785e-02 -3.14296964e-02  7.05590471e+00]
 [ 8.01672766e-02  9.96770406e-01 -4.68667396e-03  1.24101113e+00]
 [ 3.17044158e-02  2.14959273e-03  9.99494977e-01  2.37347716e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.106502480999999
Centerline is valid?  [True, True]
Translation: X:7.12, Y:1.25, Z:0.24
[[ 9.96014022e-01 -8.34760002e-02 -3.14296854e-02  7.11635131e+00]
 [ 8.33694815e-02  9.96507684e-01 -4.68674797e-03  1.25199257e+00]
 [ 3.17111540e-02  2.04779012e-03  9.99494977e-01  2.39300031e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.166502480999998
Centerline is valid?  [True, True]
Translation: X:7.18, Y:1.26, Z:0.24
[[ 9.95996675e-01 -8.36826371e-02 -3.14299015e-02  7.17847118e+00]
 [ 8.35762664e-02  9.96490369e-01 -4.68529842e-03  1.26045062e+00]
 [ 3.17116723e-02  2.03974783e-03  9.99494977e-01  2.41292208e-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 7.226502480999999
Centerline is valid?  [True, True]
Translation: X:7.24, Y:1.27, Z:0.24
[[ 9.96180737e-01 -8.14616931e-02 -3.14313698e-02  7.23742103e+00]
 [ 8.13545319e-02  9.96674260e-01 -4.67542712e-03  1.26788943e+00]
 [ 3.17077055e-02  2.10048606e-03  9.99494977e-01  2.43174829e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.2865024809999985
Centerline is valid?  [True, True]
Translation: X:7.30, Y:1.28, Z:0.25
[[ 9.96642037e-01 -7.56089982e-02 -3.14313423e-02  7.29741893e+00]
 [ 7.54989343e-02  9.97134920e-01 -4.67561212e-03  1.27845325e+00]
 [ 3.16948074e-02  2.28687874e-03  9.99494977e-01  2.45111126e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.346502480999998
Centerline is valid?  [True, True]
Translation: X:7.36, Y:1.29, Z:0.25
[[ 9.97123318e-01 -6.89721114e-02 -3.14314458e-02  7.35715677e+00]
 [ 6.88587903e-02  9.97615463e-01 -4.67491628e-03  1.29177924e+00]
 [ 3.16789352e-02  2.49713670e-03  9.99494977e-01  2.47051628e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.406502480999999
Centerline is valid?  [True, True]
Translation: X:7.42, Y:1.29, Z:0.25
[[ 9.97658411e-01 -6.07433040e-02 -3.14316238e-02  7.41824905e+00]
 [ 6.06259639e-02  9.98149612e-01 -4.67371938e-03  1.29407062e+00]
 [ 3.16573603e-02  2.75720296e-03  9.99494977e-01  2.48982811e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.466502480999998
Centerline is valid?  [True, True]
Translation: X:7.48, Y:1.31, Z:0.25
[[ 9.97434443e-01 -6.43162360e-02 -3.14317243e-02  7.47735126e+00]
 [ 6.42006772e-02  9.97926067e-01 -4.67304360e-03  1.30812907e+00]
 [ 3.16670896e-02  2.64311666e-03  9.99494977e-01  2.50906755e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.526502480999999
Centerline is valid?  [True, True]
Translation: X:7.54, Y:1.32, Z:0.25
[[ 9.97252172e-01 -6.70831493e-02 -3.14317684e-02  7.53772713e+00]
 [ 6.69689641e-02  9.97744117e-01 -4.67274668e-03  1.31727369e+00]
 [ 3.16743246e-02  2.55495380e-03  9.99494977e-01  2.52848005e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.586502480999998
Centerline is valid?  [True, True]
Translation: X:7.60, Y:1.32, Z:0.25
[[ 9.97353896e-01 -6.55533807e-02 -3.14318441e-02  7.60132970e+00]
 [ 6.54384570e-02  9.97845669e-01 -4.67223751e-03  1.32097914e+00]
 [ 3.16704105e-02  2.60302290e-03  9.99494977e-01  2.54865172e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.646502480999999
Centerline is valid?  [True, True]
Translation: X:7.66, Y:1.33, Z:0.26
[[ 9.96951769e-01 -7.14080333e-02 -3.14334675e-02  7.66078835e+00]
 [ 7.12963420e-02  9.97444286e-01 -4.66129021e-03  1.33002882e+00]
 [ 3.16859861e-02  2.40599027e-03  9.99494977e-01  2.56770694e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.7065024809999985
Centerline is valid?  [True, True]
Translation: X:7.72, Y:1.34, Z:0.26
[[ 9.96858055e-01 -7.27045833e-02 -3.14334643e-02  7.72209703e+00]
 [ 7.25935320e-02  9.97350716e-01 -4.66131157e-03  1.33748820e+00]
 [ 3.16890869e-02  2.36479979e-03  9.99494977e-01  2.58733613e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.766502480999998
Centerline is valid?  [True, True]
Translation: X:7.78, Y:1.35, Z:0.26
[[ 9.96949103e-01 -7.14451242e-02 -3.14337575e-02  7.78267166e+00]
 [ 7.13335125e-02  9.97441638e-01 -4.65933378e-03  1.34835270e+00]
 [ 3.16862252e-02  2.40283830e-03  9.99494977e-01  2.60688117e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.826502480999999
Centerline is valid?  [True, True]
Translation: X:7.85, Y:1.35, Z:0.26
[[ 9.97044639e-01 -7.00991761e-02 -3.14339489e-02  7.84503671e+00]
 [ 6.99869401e-02  9.97537032e-01 -4.65804217e-03  1.35432778e+00]
 [ 3.16830530e-02  2.44431008e-03  9.99494977e-01  2.62676552e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.886502480999998
Centerline is valid?  [True, True]
Translation: X:7.90, Y:1.36, Z:0.26
[[ 9.97271674e-01 -6.67908933e-02 -3.14354133e-02  7.90437403e+00]
 [ 6.66773345e-02  9.97763764e-01 -4.64813849e-03  1.36323210e+00]
 [ 3.16755696e-02  2.53942729e-03  9.99494977e-01  2.64578233e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.946502480999999
Centerline is valid?  [True, True]
Translation: X:7.96, Y:1.37, Z:0.27
[[ 9.97665333e-01 -6.06275066e-02 -3.14354764e-02  7.96416270e+00]
 [ 6.05109226e-02  9.98156715e-01 -4.64771139e-03  1.37308825e+00]
 [ 3.16593110e-02  2.73467085e-03  9.99494977e-01  2.66504242e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.006502480999998
Centerline is valid?  [True, True]
Translation: X:8.03, Y:1.38, Z:0.27
[[ 9.97778108e-01 -5.87421993e-02 -3.14356642e-02  8.02582105e+00]
 [ 5.86247268e-02  9.98269278e-01 -4.64644101e-03  1.37965634e+00]
 [ 3.16542000e-02  2.79320990e-03  9.99494977e-01  2.68473260e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.066502480999999
Centerline is valid?  [True, True]
Translation: X:8.09, Y:1.39, Z:0.27
[[ 9.97600480e-01 -6.16845946e-02 -3.14371154e-02  8.08640152e+00]
 [ 6.15688789e-02  9.98092067e-01 -4.63660162e-03  1.39420866e+00]
 [ 3.16631424e-02  2.68992806e-03  9.99494977e-01  2.70440290e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.126502481
Centerline is valid?  [True, True]
Translation: X:8.15, Y:1.41, Z:0.27
[[ 9.97607347e-01 -6.15732849e-02 -3.14374307e-02  8.14696583e+00]
 [ 6.14575812e-02  9.98098937e-01 -4.63446291e-03  1.40602579e+00]
 [ 3.16630252e-02  2.69130580e-03  9.99494977e-01  2.72398735e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.186502480999998
Centerline is valid?  [True, True]
Translation: X:8.21, Y:1.41, Z:0.27
[[ 9.97603284e-01 -6.16383934e-02 -3.14387660e-02  8.20877758e+00]
 [ 6.15230058e-02  9.98094948e-01 -4.62538676e-03  1.41261798e+00]
 [ 3.16639749e-02  2.68009364e-03  9.99494977e-01  2.74367972e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.246502480999998
Centerline is valid?  [True, True]
Translation: X:8.27, Y:1.43, Z:0.28
[[ 9.97787851e-01 -5.85740413e-02 -3.14402012e-02  8.26832075e+00]
 [ 5.84574498e-02  9.98279231e-01 -4.61561040e-03  1.42898918e+00]
 [ 3.16564548e-02  2.76748599e-03  9.99494977e-01  2.76310627e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.306502480999999
Centerline is valid?  [True, True]
Translation: X:8.33, Y:1.44, Z:0.28
[[ 9.97750379e-01 -5.92088516e-02 -3.14403236e-02  8.33011525e+00]
 [ 5.90925988e-02  9.98241839e-01 -4.61477624e-03  1.43593013e+00]
 [ 3.16582821e-02  2.74650430e-03  9.99494977e-01  2.78285982e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.366502480999998
Centerline is valid?  [True, True]
Translation: X:8.39, Y:1.44, Z:0.28
[[ 9.97523349e-01 -6.29172958e-02 -3.14417306e-02  8.39068041e+00]
 [ 6.28031714e-02  9.98015308e-01 -4.60517042e-03  1.44262545e+00]
 [ 3.16690733e-02  2.61912462e-03  9.99494977e-01  2.80216172e-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 8.426502480999998
Centerline is valid?  [True, True]
Translation: X:8.45, Y:1.45, Z:0.28
[[ 9.96833893e-01 -7.30315086e-02 -3.14418321e-02  8.44997735e+00]
 [ 7.29224014e-02  9.97326989e-01 -4.60447710e-03  1.45160141e+00]
 [ 3.16940596e-02  2.29708493e-03  9.99494977e-01  2.82122445e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.486502480999999
Centerline is valid?  [True, True]
Translation: X:8.51, Y:1.46, Z:0.28
[[ 9.96393416e-01 -7.88135320e-02 -3.14418286e-02  8.50947951e+00]
 [ 7.87072867e-02  9.96887136e-01 -4.60450076e-03  1.46041331e+00]
 [ 3.17068515e-02  2.11319322e-03  9.99494977e-01  2.84034857e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.546502481
Centerline is valid?  [True, True]
Translation: X:8.57, Y:1.48, Z:0.29
[[ 9.95991446e-01 -8.37403723e-02 -3.14418421e-02  8.56966733e+00]
 [ 8.36365730e-02  9.96485686e-01 -4.60440904e-03  1.47531887e+00]
 [ 3.17169205e-02  1.95626410e-03  9.99494977e-01  2.85996839e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.606502480999998
Centerline is valid?  [True, True]
Translation: X:8.63, Y:1.49, Z:0.29
[[ 9.96214079e-01 -8.10487542e-02 -3.14421481e-02  8.63125027e+00]
 [ 8.09436855e-02  9.96708051e-01 -4.60231818e-03  1.48516682e+00]
 [ 3.17116543e-02  2.03985081e-03  9.99494977e-01  2.87978171e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.666502480999998
Centerline is valid?  [True, True]
Translation: X:8.69, Y:1.49, Z:0.29
[[ 9.96006896e-01 -8.35561415e-02 -3.14425650e-02  8.69223796e+00]
 [ 8.34524061e-02  9.96501149e-01 -4.59946809e-03  1.49316230e+00]
 [ 3.17168660e-02  1.95714422e-03  9.99494977e-01  2.89931779e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.726502480999999
Centerline is valid?  [True, True]
Translation: X:8.75, Y:1.50, Z:0.29
[[ 9.95898371e-01 -8.48397698e-02 -3.14427744e-02  8.75265545e+00]
 [ 8.47367166e-02  9.96392767e-01 -4.59803636e-03  1.50348644e+00]
 [ 3.17194494e-02  1.91481945e-03  9.99494977e-01  2.91879042e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.786502480999998
Centerline is valid?  [True, True]
Translation: X:8.81, Y:1.51, Z:0.29
[[ 9.95867719e-01 -8.51987413e-02 -3.14429843e-02  8.81194350e+00]
 [ 8.50959115e-02  9.96362162e-01 -4.59660039e-03  1.51146203e+00]
 [ 3.17202244e-02  1.90193653e-03  9.99494977e-01  2.93779967e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.846502480999998
Centerline is valid?  [True, True]
Translation: X:8.87, Y:1.52, Z:0.30
[[ 9.96098582e-01 -8.24555875e-02 -3.14434697e-02  8.87426727e+00]
 [ 8.23515007e-02  9.96592761e-01 -4.59327801e-03  1.51863707e+00]
 [ 3.17150757e-02  1.98594080e-03  9.99494977e-01  2.95771550e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.906502480999999
Centerline is valid?  [True, True]
Translation: X:8.93, Y:1.53, Z:0.30
[[ 9.95915778e-01 -8.46347464e-02 -3.14439737e-02  8.93482709e+00]
 [ 8.45318497e-02  9.96410207e-01 -4.58982520e-03  1.52729105e+00]
 [ 3.17195550e-02  1.91306207e-03  9.99494977e-01  2.97714363e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.966502481
Centerline is valid?  [True, True]
Translation: X:9.00, Y:1.54, Z:0.30
[[ 9.95978035e-01 -8.38988521e-02 -3.14441802e-02  8.99533501e+00]
 [ 8.37956346e-02  9.96472397e-01 -4.58840988e-03  1.53874717e+00]
 [ 3.17182199e-02  1.93507042e-03  9.99494977e-01  2.99669665e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.026502480999998
Centerline is valid?  [True, True]
Translation: X:9.05, Y:1.55, Z:0.30
[[ 9.95764402e-01 -8.63973704e-02 -3.14443825e-02  9.05475573e+00]
 [ 8.62954372e-02  9.96259031e-01 -4.58702276e-03  1.54885699e+00]
 [ 3.17230568e-02  1.85408724e-03  9.99494977e-01  3.01584594e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.086502480999998
Centerline is valid?  [True, True]
Translation: X:9.12, Y:1.56, Z:0.30
[[ 9.95493961e-01 -8.94596117e-02 -3.14444172e-02  9.11589663e+00]
 [ 8.93592077e-02  9.95988902e-01 -4.58678544e-03  1.55571402e+00]
 [ 3.17286226e-02  1.75626900e-03  9.99494977e-01  3.03539426e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.146502480999999
Centerline is valid?  [True, True]
Translation: X:9.18, Y:1.57, Z:0.31
[[ 9.95369877e-01 -9.08293722e-02 -3.14457171e-02  9.17723514e+00]
 [ 9.07299306e-02  9.95865012e-01 -4.57785635e-03  1.56541015e+00]
 [ 3.17314932e-02  1.70359259e-03  9.99494978e-01  3.05508113e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.206502480999998
Centerline is valid?  [True, True]
Translation: X:9.24, Y:1.58, Z:0.31
[[ 9.95687302e-01 -8.72804247e-02 -3.14471624e-02  9.23707454e+00]
 [ 8.71795319e-02  9.96182144e-01 -4.56790627e-03  1.57760334e+00]
 [ 3.17257904e-02  1.80665738e-03  9.99494978e-01  3.07440395e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.266502480999998
Centerline is valid?  [True, True]
Translation: X:9.30, Y:1.59, Z:0.31
[[ 9.96164355e-01 -8.16556584e-02 -3.14472649e-02  9.29737318e+00]
 [ 8.15519947e-02  9.96658624e-01 -4.56720053e-03  1.58958362e+00]
 [ 3.17151255e-02  1.98509520e-03  9.99494978e-01  3.09391884e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.326502480999999
Centerline is valid?  [True, True]
Translation: X:9.36, Y:1.60, Z:0.31
[[ 9.96379409e-01 -7.89881950e-02 -3.14473926e-02  9.35728896e+00]
 [ 7.88832359e-02  9.96873404e-01 -4.56632112e-03  1.59983405e+00]
 [ 3.17097547e-02  2.06911625e-03  9.99494978e-01  3.11323310e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.386502480999999
Centerline is valid?  [True, True]
Translation: X:9.42, Y:1.61, Z:0.31
[[ 9.96209700e-01 -8.11004866e-02 -3.14474925e-02  9.41751766e+00]
 [ 8.09965967e-02  9.96703921e-01 -4.56563270e-03  1.60721884e+00]
 [ 3.17141141e-02  2.00118772e-03  9.99494978e-01  3.13251609e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.446502480999998
Centerline is valid?  [True, True]
Translation: X:9.48, Y:1.62, Z:0.32
[[ 9.95964820e-01 -8.40543321e-02 -3.14475179e-02  9.47833717e+00]
 [ 8.39519137e-02  9.96459348e-01 -4.56545797e-03  1.61669609e+00]
 [ 3.17199197e-02  1.90695622e-03  9.99494978e-01  3.15208378e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.506502480999998
Centerline is valid?  [True, True]
Translation: X:9.54, Y:1.63, Z:0.32
[[ 9.96017995e-01 -8.34217824e-02 -3.14477257e-02  9.53914089e+00]
 [ 8.33190950e-02  9.96512468e-01 -4.56402602e-03  1.62950122e+00]
 [ 3.17187899e-02  1.92565600e-03  9.99494978e-01  3.17179056e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.566502480999999
Centerline is valid?  [True, True]
Translation: X:9.60, Y:1.64, Z:0.32
[[ 9.96146018e-01 -8.18783822e-02 -3.14490394e-02  9.60159498e+00]
 [ 8.17752140e-02  9.96640390e-01 -4.55495546e-03  1.63644118e+00]
 [ 3.17163353e-02  1.96564881e-03  9.99494978e-01  3.19170061e-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 9.626502480999998
Centerline is valid?  [True, True]
Translation: X:9.66, Y:1.65, Z:0.32
[[ 9.96091631e-01 -8.25368496e-02 -3.14504689e-02  9.66331648e+00]
 [ 8.24343193e-02  9.96586135e-01 -4.54506403e-03  1.64652173e+00]
 [ 3.17182365e-02  1.93470224e-03  9.99494978e-01  3.21151814e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.686502480999998
Centerline is valid?  [True, True]
Translation: X:9.72, Y:1.65, Z:0.32
[[ 9.95824251e-01 -8.57020440e-02 -3.14518677e-02  9.72374926e+00]
 [ 8.56013911e-02  9.96319142e-01 -4.53536357e-03  1.65396272e+00]
 [ 3.17247878e-02  1.82410140e-03  9.99494978e-01  3.23081133e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.746502480999998
Centerline is valid?  [True, True]
Translation: X:9.78, Y:1.66, Z:0.33
[[ 9.95280883e-01 -9.17972820e-02 -3.14519232e-02  9.78388297e+00]
 [ 9.16996731e-02  9.95776382e-01 -4.53497850e-03  1.66139712e+00]
 [ 3.17353810e-02  1.62944632e-03  9.99494978e-01  3.25006898e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.806502480999999
Centerline is valid?  [True, True]
Translation: X:9.85, Y:1.67, Z:0.33
[[ 9.95078315e-01 -9.39676387e-02 -3.14520195e-02  9.84600197e+00]
 [ 9.38711317e-02  9.95574031e-01 -4.53431064e-03  1.67028083e+00]
 [ 3.17388923e-02  1.55955752e-03  9.99494978e-01  3.27001535e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.866502480999998
Centerline is valid?  [True, True]
Translation: X:9.91, Y:1.68, Z:0.33
[[ 9.95284489e-01 -9.17576488e-02 -3.14534577e-02  9.90674272e+00]
 [ 9.16603563e-02  9.95780051e-01 -4.52431252e-03  1.67632375e+00]
 [ 3.17358660e-02  1.61994293e-03  9.99494978e-01  3.28934066e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.926502480999998
Centerline is valid?  [True, True]
Translation: X:9.97, Y:1.69, Z:0.33
[[ 9.95316958e-01 -9.14043316e-02 -3.14547619e-02  9.96655067e+00]
 [ 9.13071496e-02  9.95812541e-01 -4.51522698e-03  1.68960438e+00]
 [ 3.17357577e-02  1.62203734e-03  9.99494978e-01  3.30870558e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.986502480999999
Centerline is valid?  [True, True]
Translation: X:10.03, Y:1.70, Z:0.33
[[ 9.95130044e-01 -9.34172732e-02 -3.14548569e-02  1.00293076e+01]
 [ 9.33211146e-02  9.95625827e-01 -4.51456484e-03  1.69660476e+00]
 [ 3.17390063e-02  1.55717680e-03  9.99494978e-01  3.32876768e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.046502480999997
Centerline is valid?  [True, True]
Translation: X:10.09, Y:1.71, Z:0.33
[[ 9.94774793e-01 -9.71267466e-02 -3.14564285e-02  1.00892070e+01]
 [ 9.70327835e-02  9.95270997e-01 -4.50358796e-03  1.70827108e+00]
 [ 3.17450897e-02  1.42775097e-03  9.99494978e-01  3.34807588e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.106502480999998
Centerline is valid?  [True, True]
Translation: X:10.15, Y:1.72, Z:0.34
[[ 9.94662927e-01 -9.82656685e-02 -3.14566219e-02  1.01509848e+01]
 [ 9.81723163e-02  9.95159247e-01 -4.50223640e-03  1.71851151e+00]
 [ 3.17467634e-02  1.39003821e-03  9.99494978e-01  3.36797165e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.166502480999998
Centerline is valid?  [True, True]
Translation: X:10.21, Y:1.73, Z:0.34
[[ 9.94093258e-01 -1.03870077e-01 -3.14579404e-02  1.02104143e+01]
 [ 1.03779816e-01  9.94590148e-01 -4.49300510e-03  1.73025476e+00]
 [ 3.17544464e-02  1.20176683e-03  9.99494978e-01  3.38714565e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.226502480999999
Centerline is valid?  [True, True]
Translation: X:10.27, Y:1.74, Z:0.34
[[ 9.94088203e-01 -1.03918431e-01 -3.14579721e-02  1.02725574e+01]
 [ 1.03828200e-01  9.94585099e-01 -4.49278283e-03  1.73700809e+00]
 [ 3.17545133e-02  1.19999778e-03  9.99494978e-01  3.40700664e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.286502480999998
Centerline is valid?  [True, True]
Translation: X:10.33, Y:1.75, Z:0.34
[[ 9.94585532e-01 -9.90451038e-02 -3.14592843e-02  1.03323133e+01]
 [ 9.89527296e-02  9.95082034e-01 -4.48357572e-03  1.74574182e+00]
 [ 3.17486448e-02  1.34631749e-03  9.99494978e-01  3.42614808e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.346502480999998
Centerline is valid?  [True, True]
Translation: X:10.39, Y:1.75, Z:0.34
[[ 9.94953886e-01 -9.52736623e-02 -3.14593970e-02  1.03924019e+01]
 [ 9.51794314e-02  9.95450039e-01 -4.48278484e-03  1.75349803e+00]
 [ 3.17433493e-02  1.46587667e-03  9.99494978e-01  3.44540399e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.406502480999999
Centerline is valid?  [True, True]
Translation: X:10.45, Y:1.76, Z:0.35
[[ 9.95053144e-01 -9.42312794e-02 -3.14595902e-02  1.04531320e+01]
 [ 9.41365715e-02  9.95549207e-01 -4.48142881e-03  1.76014669e+00]
 [ 3.17418608e-02  1.49776187e-03  9.99494978e-01  3.46480855e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.466502480999997
Centerline is valid?  [True, True]
Translation: X:10.51, Y:1.77, Z:0.35
[[ 9.94712195e-01 -9.77643471e-02 -3.14608075e-02  1.05146330e+01]
 [ 9.76716718e-02  9.95208640e-01 -4.47286675e-03  1.76559705e+00]
 [ 3.17473543e-02  1.37638544e-03  9.99494978e-01  3.48435667e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.526502480999998
Centerline is valid?  [True, True]
Translation: X:10.58, Y:1.78, Z:0.35
[[ 9.94492833e-01 -9.99710166e-02 -3.14611154e-02  1.05762445e+01]
 [ 9.98795114e-02  9.94989495e-01 -4.47069984e-03  1.77523073e+00]
 [ 3.17504197e-02  1.30375812e-03  9.99494978e-01  3.50416736e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.586502480999998
Centerline is valid?  [True, True]
Translation: X:10.64, Y:1.79, Z:0.35
[[ 9.94545821e-01 -9.94420372e-02 -3.14625236e-02  1.06354166e+01]
 [ 9.93505814e-02  9.95042493e-01 -4.46076772e-03  1.78736510e+00]
 [ 3.17501357e-02  1.31061789e-03  9.99494978e-01  3.52327258e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.646502480999999
Centerline is valid?  [True, True]
Translation: X:10.70, Y:1.80, Z:0.35
[[ 9.94841706e-01 -9.64369401e-02 -3.14626237e-02  1.06959259e+01]
 [ 9.63440065e-02  9.95338103e-01 -4.46006141e-03  1.79775402e+00]
 [ 3.17460629e-02  1.40581988e-03  9.99494978e-01  3.54277910e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.706502480999998
Centerline is valid?  [True, True]
Translation: X:10.76, Y:1.80, Z:0.36
[[ 9.95070942e-01 -9.40420933e-02 -3.14627722e-02  1.07575054e+01]
 [ 9.39479983e-02  9.95567120e-01 -4.45901348e-03  1.80068423e+00]
 [ 3.17426365e-02  1.48117027e-03  9.99494978e-01  3.56228755e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.766502480999998
Centerline is valid?  [True, True]
Translation: X:10.82, Y:1.81, Z:0.36
[[ 9.95161889e-01 -9.30743086e-02 -3.14640685e-02  1.08190117e+01]
 [ 9.29800202e-02  9.95658031e-01 -4.44984750e-03  1.80849819e+00]
 [ 3.17416190e-02  1.50278891e-03  9.99494978e-01  3.58193967e-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 10.826502480999999
Centerline is valid?  [True, True]
Translation: X:10.88, Y:1.82, Z:0.36
[[ 9.94952591e-01 -9.52851776e-02 -3.14654697e-02  1.08797568e+01]
 [ 9.51923052e-02  9.95449000e-01 -4.43991728e-03  1.81661118e+00]
 [ 3.17453287e-02  1.42223661e-03  9.99494978e-01  3.60136071e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.886502480999997
Centerline is valid?  [True, True]
Translation: X:10.94, Y:1.82, Z:0.36
[[ 9.94881193e-01 -9.60275251e-02 -3.14662587e-02  1.09414435e+01]
 [ 9.59351998e-02  9.95377704e-01 -4.43431877e-03  1.82480843e+00]
 [ 3.17466290e-02  1.39289854e-03  9.99494978e-01  3.62110935e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.946502480999998
Centerline is valid?  [True, True]
Translation: X:11.00, Y:1.83, Z:0.36
[[ 9.94928603e-01 -9.55346185e-02 -3.14676199e-02  1.10032938e+01]
 [ 9.54423528e-02  9.95425125e-01 -4.42463784e-03  1.83276876e+00]
 [ 3.17463656e-02  1.39885506e-03  9.99494978e-01  3.64087332e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.006502480999998
Centerline is valid?  [True, True]
Translation: X:11.07, Y:1.84, Z:0.37
[[ 9.95006935e-01 -9.47151709e-02 -3.14680067e-02  1.10653749e+01]
 [ 9.46225831e-02  9.95503397e-01 -4.42188546e-03  1.84154254e+00]
 [ 3.17453272e-02  1.42222262e-03  9.99494978e-01  3.66078969e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.066502480999999
Centerline is valid?  [True, True]
Translation: X:11.13, Y:1.85, Z:0.37
[[ 9.94614278e-01 -9.87528016e-02 -3.14693813e-02  1.11269286e+01]
 [ 9.86625393e-02  9.95111168e-01 -4.41208064e-03  1.84831378e+00]
 [ 3.17512381e-02  1.28346932e-03  9.99494978e-01  3.68040711e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.126502480999998
Centerline is valid?  [True, True]
Translation: X:11.19, Y:1.86, Z:0.37
[[ 9.94676371e-01 -9.81253147e-02 -3.14696773e-02  1.11890769e+01]
 [ 9.80348056e-02  9.95173216e-01 -4.40996898e-03  1.85510037e+00]
 [ 3.17505095e-02  1.30136825e-03  9.99494978e-01  3.70026101e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.186502480999998
Centerline is valid?  [True, True]
Translation: X:11.25, Y:1.87, Z:0.37
[[ 9.94649566e-01 -9.83962046e-02 -3.14710710e-02  1.12487842e+01]
 [ 9.83061457e-02  9.95146493e-01 -4.39999983e-03  1.86831416e+00]
 [ 3.17512693e-02  1.28265822e-03  9.99494978e-01  3.71958021e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.246502480999998
Centerline is valid?  [True, True]
Translation: X:11.31, Y:1.87, Z:0.37
[[ 9.94739441e-01 -9.74830109e-02 -3.14723375e-02  1.13115858e+01]
 [ 9.73927826e-02  9.95236337e-01 -4.39092224e-03  1.87311099e+00]
 [ 3.17504542e-02  1.30264500e-03  9.99494978e-01  3.73950866e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.306502480999997
Centerline is valid?  [True, True]
Translation: X:11.37, Y:1.88, Z:0.38
[[ 9.94711914e-01 -9.77629890e-02 -3.14738922e-02  1.13739145e+01]
 [ 9.76732535e-02  9.95208899e-01 -4.37974979e-03  1.87827417e+00]
 [ 3.17512751e-02  1.28243184e-03  9.99494978e-01  3.75929184e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.366502480999998
Centerline is valid?  [True, True]
Translation: X:11.44, Y:1.89, Z:0.38
[[ 9.94496691e-01 -9.99284837e-02 -3.14742776e-02  1.14362647e+01]
 [ 9.98399180e-02  9.94993886e-01 -4.37697873e-03  1.88606316e+00]
 [ 3.17540986e-02  1.21050157e-03  9.99494978e-01  3.77924983e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.426502480999998
Centerline is valid?  [True, True]
Translation: X:11.50, Y:1.89, Z:0.38
[[ 9.94235922e-01 -1.02490269e-01 -3.14750039e-02  1.14952082e+01]
 [ 1.02403150e-01  9.94733373e-01 -4.37174962e-03  1.89486545e+00]
 [ 3.17572986e-02  1.12341097e-03  9.99494978e-01  3.79816401e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.486502480999999
Centerline is valid?  [True, True]
Translation: X:11.56, Y:1.90, Z:0.38
[[ 9.93803216e-01 -1.06604373e-01 -3.14750039e-02  1.15552277e+01]
 [ 1.06519313e-01  9.94301023e-01 -4.37174962e-03  1.90125596e+00]
 [ 3.17616762e-02  9.91963034e-04  9.99494978e-01  3.81734422e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.546502480999997
Centerline is valid?  [True, True]
Translation: X:11.62, Y:1.91, Z:0.38
[[ 9.93727199e-01 -1.07310666e-01 -3.14750039e-02  1.16175428e+01]
 [ 1.07225960e-01  9.94225066e-01 -4.37174962e-03  1.90889622e+00]
 [ 3.17623732e-02  9.69388990e-04  9.99494978e-01  3.83730199e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.606502480999998
Centerline is valid?  [True, True]
Translation: X:11.68, Y:1.91, Z:0.39
[[ 9.93930529e-01 -1.05410325e-01 -3.14764617e-02  1.16802406e+01]
 [ 1.05325001e-01  9.94428290e-01 -4.36122831e-03  1.91121667e+00]
 [ 3.17608025e-02  1.01949961e-03  9.99494979e-01  3.85708275e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.666502480999998
Centerline is valid?  [True, True]
Translation: X:11.74, Y:1.92, Z:0.39
[[ 9.94367948e-01 -1.01200447e-01 -3.14778148e-02  1.17425767e+01]
 [ 1.01113324e-01  9.94865398e-01 -4.35144026e-03  1.91741588e+00]
 [ 3.17565564e-02  1.14410622e-03  9.99494979e-01  3.87692426e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.726502480999997
Centerline is valid?  [True, True]
Translation: X:11.80, Y:1.92, Z:0.39
[[ 9.94534687e-01 -9.95480747e-02 -3.14791471e-02  1.18031508e+01]
 [ 9.94604312e-02  9.95032045e-01 -4.34178014e-03  1.92283523e+00]
 [ 3.17549760e-02  1.18712140e-03  9.99494979e-01  3.89617821e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.786502480999998
Centerline is valid?  [True, True]
Translation: X:11.87, Y:1.93, Z:0.39
[[ 9.94799884e-01 -9.68620013e-02 -3.14792445e-02  1.18662948e+01]
 [ 9.67730373e-02  9.95297008e-01 -4.34107413e-03  1.92967749e+00]
 [ 3.17516830e-02  1.27215794e-03  9.99494979e-01  3.91635835e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.846502480999998
Centerline is valid?  [True, True]
Translation: X:11.93, Y:1.93, Z:0.39
[[ 9.95368608e-01 -9.08311551e-02 -3.14807175e-02  1.19263669e+01]
 [ 9.07395179e-02  9.95865246e-01 -4.33036607e-03  1.93383274e+00]
 [ 3.17438846e-02  1.45376532e-03  9.99494979e-01  3.93539379e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.906502480999999
Centerline is valid?  [True, True]
Translation: X:11.99, Y:1.94, Z:0.40
[[ 9.95400476e-01 -9.04812536e-02 -3.14807175e-02  1.19870766e+01]
 [ 9.03894418e-02  9.95897081e-01 -4.33036607e-03  1.94202341e+00]
 [ 3.17433716e-02  1.46492397e-03  9.99494979e-01  3.95487015e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.966502480999997
Centerline is valid?  [True, True]
Translation: X:12.05, Y:1.95, Z:0.40
[[ 9.95746621e-01 -8.65884490e-02 -3.14818662e-02  1.20469422e+01]
 [ 8.64949600e-02  9.96242913e-01 -4.32199891e-03  1.94986292e+00]
 [ 3.17378212e-02  1.58059305e-03  9.99494979e-01  3.97401479e-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 12.026502480999998
Centerline is valid?  [True, True]
Translation: X:12.11, Y:1.96, Z:0.40
[[ 9.95722340e-01 -8.68671830e-02 -3.14819526e-02  1.21095015e+01]
 [ 8.67738527e-02  9.96218663e-01 -4.32136903e-03  1.95898479e+00]
 [ 3.17382939e-02  1.57107336e-03  9.99494979e-01  3.99411020e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.086502480999998
Centerline is valid?  [True, True]
Translation: X:12.17, Y:1.97, Z:0.40
[[ 9.95428648e-01 -9.01698357e-02 -3.14834509e-02  1.21690013e+01]
 [ 9.00784978e-02  9.95925341e-01 -4.31042584e-03  1.96744330e+00]
 [ 3.17438369e-02  1.45473940e-03  9.99494979e-01  4.01315072e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.146502480999997
Centerline is valid?  [True, True]
Translation: X:12.23, Y:1.98, Z:0.40
[[ 9.95015595e-01 -9.46189805e-02 -3.14835424e-02  1.22301354e+01]
 [ 9.45298851e-02  9.95512695e-01 -4.30975677e-03  1.97555180e+00]
 [ 3.17500510e-02  1.31213955e-03  9.99494979e-01  4.03275320e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.206502480999998
Centerline is valid?  [True, True]
Translation: X:12.29, Y:1.99, Z:0.41
[[ 9.94947921e-01 -9.53278746e-02 -3.14838135e-02  1.22901165e+01]
 [ 9.52391960e-02  9.95445096e-01 -4.30777583e-03  1.98747005e+00]
 [ 3.17510588e-02  1.28751952e-03  9.99494979e-01  4.05214874e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.266502480999998
Centerline is valid?  [True, True]
Translation: X:12.35, Y:1.99, Z:0.41
[[ 9.95156863e-01 -9.31211200e-02 -3.14845224e-02  1.23498647e+01]
 [ 9.30315029e-02  9.95653869e-01 -4.30258813e-03  1.99493496e+00]
 [ 3.17483484e-02  1.35269767e-03  9.99494979e-01  4.07125935e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.326502480999999
Centerline is valid?  [True, True]
Translation: X:12.41, Y:2.00, Z:0.41
[[ 9.95300904e-01 -9.15687340e-02 -3.14845710e-02  1.24109193e+01]
 [ 9.14783529e-02  9.95797772e-01 -4.30223251e-03  1.99855349e+00]
 [ 3.17462156e-02  1.40185921e-03  9.99494979e-01  4.09064545e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.386502480999997
Centerline is valid?  [True, True]
Translation: X:12.47, Y:2.01, Z:0.41
[[ 9.95228044e-01 -9.23568748e-02 -3.14856681e-02  1.24709515e+01]
 [ 9.22671412e-02  9.95725030e-01 -4.29418889e-03  2.00910669e+00]
 [ 3.17476656e-02  1.36860463e-03  9.99494979e-01  4.10996127e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.446502480999998
Centerline is valid?  [True, True]
Translation: X:12.53, Y:2.02, Z:0.41
[[ 9.95358080e-01 -9.09447038e-02 -3.14857585e-02  1.25326904e+01]
 [ 9.08542860e-02  9.95854941e-01 -4.29352568e-03  2.01760792e+00]
 [ 3.17457216e-02  1.41297937e-03  9.99494979e-01  4.12977121e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.506502480999998
Centerline is valid?  [True, True]
Translation: X:12.60, Y:2.03, Z:0.41
[[ 9.95759687e-01 -8.64365059e-02 -3.14861406e-02  1.25954284e+01]
 [ 8.63439276e-02  9.96256150e-01 -4.29072165e-03  2.02653719e+00]
 [ 3.17391362e-02  1.55389060e-03  9.99494979e-01  4.14990123e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.566502480999997
Centerline is valid?  [True, True]
Translation: X:12.66, Y:2.03, Z:0.42
[[ 9.95557118e-01 -8.87386664e-02 -3.14876713e-02  1.26579854e+01]
 [ 8.86475917e-02  9.96053859e-01 -4.27945939e-03  2.03249497e+00]
 [ 3.17431700e-02  1.46914004e-03  9.99494979e-01  4.16979550e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.626502480999998
Centerline is valid?  [True, True]
Translation: X:12.72, Y:2.04, Z:0.42
[[ 9.95133452e-01 -9.33694469e-02 -3.14890183e-02  1.27201365e+01]
 [ 9.32809981e-02  9.95630668e-01 -4.26952458e-03  2.03728039e+00]
 [ 3.17500755e-02  1.31141968e-03  9.99494979e-01  4.18952037e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.686502480999998
Centerline is valid?  [True, True]
Translation: X:12.78, Y:2.04, Z:0.42
[[ 9.95044587e-01 -9.43113262e-02 -3.14903889e-02  1.27799527e+01]
 [ 9.42236681e-02  9.95541942e-01 -4.25939175e-03  2.04397766e+00]
 [ 3.17517118e-02  1.27114475e-03  9.99494979e-01  4.20859056e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.746502480999998
Centerline is valid?  [True, True]
Translation: X:12.84, Y:2.05, Z:0.42
[[ 9.95336818e-01 -9.11755092e-02 -3.14903889e-02  1.28422739e+01]
 [ 9.10862844e-02  9.95833895e-01 -4.25939175e-03  2.04770463e+00]
 [ 3.17475488e-02  1.37118691e-03  9.99494979e-01  4.22838450e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.806502480999997
Centerline is valid?  [True, True]
Translation: X:12.90, Y:2.05, Z:0.42
[[ 9.95364476e-01 -9.08726040e-02 -3.14917284e-02  1.29038994e+01]
 [ 9.07835415e-02  9.95861582e-01 -4.24946467e-03  2.05322374e+00]
 [ 3.17475624e-02  1.37083554e-03  9.99494979e-01  4.24797666e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.866502480999998
Centerline is valid?  [True, True]
Translation: X:12.97, Y:2.06, Z:0.43
[[ 9.94948500e-01 -9.53188010e-02 -3.14929783e-02  1.29660845e+01]
 [ 9.52322537e-02  9.95446050e-01 -4.24018153e-03  2.06091509e+00]
 [ 3.17537299e-02  1.21961496e-03  9.99494979e-01  4.26784161e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.926502480999998
Centerline is valid?  [True, True]
Translation: X:13.03, Y:2.07, Z:0.43
[[ 9.94890285e-01 -9.59240540e-02 -3.14943913e-02  1.30281965e+01]
 [ 9.58381420e-02  9.95387945e-01 -4.22965978e-03  2.06655670e+00]
 [ 3.17548636e-02  1.18968347e-03  9.99494979e-01  4.28758956e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.986502480999997
Centerline is valid?  [True, True]
Translation: X:13.09, Y:2.07, Z:0.43
[[ 9.94717052e-01 -9.77036544e-02 -3.14957491e-02  1.30891634e+01]
 [ 9.76189533e-02  9.95214919e-01 -4.21952522e-03  2.07111027e+00]
 [ 3.17573024e-02  1.12265163e-03  9.99494979e-01  4.30693353e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.046502480999997
Centerline is valid?  [True, True]
Translation: X:13.15, Y:2.08, Z:0.43
[[ 9.94899177e-01 -9.58312756e-02 -3.14959337e-02  1.31513055e+01]
 [ 9.57456811e-02  9.95396892e-01 -4.21814714e-03  2.07594936e+00]
 [ 3.17551849e-02  1.18103150e-03  9.99494979e-01  4.32671177e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.106502480999998
Centerline is valid?  [True, True]
Translation: X:13.21, Y:2.08, Z:0.43
[[ 9.95236107e-01 -9.22663193e-02 -3.14963157e-02  1.32130478e+01]
 [ 9.21790324e-02  9.95733527e-01 -4.21529258e-03  2.08271229e+00]
 [ 3.17508670e-02  1.29191147e-03  9.99494979e-01  4.34643667e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.166502480999998
Centerline is valid?  [True, True]
Translation: X:13.27, Y:2.10, Z:0.44
[[ 9.95057838e-01 -9.41689874e-02 -3.14976482e-02  1.32736120e+01]
 [ 9.40829672e-02  9.95555478e-01 -4.20531215e-03  2.09602924e+00]
 [ 3.17536662e-02  1.22113662e-03  9.99494979e-01  4.36602472e-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 13.226502480999997
Centerline is valid?  [True, True]
Translation: X:13.33, Y:2.10, Z:0.44
[[ 9.94775495e-01 -9.71060579e-02 -3.14980590e-02  1.33346287e+01]
 [ 9.70216045e-02  9.95273404e-01 -4.20223279e-03  2.10340810e+00]
 [ 3.17572427e-02  1.12428598e-03  9.99494979e-01  4.38554560e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.286502480999998
Centerline is valid?  [True, True]
Translation: X:13.40, Y:2.11, Z:0.44
[[ 9.94465306e-01 -1.00232666e-01 -3.14986831e-02  1.33958558e+01]
 [ 1.00149927e-01  9.94963503e-01 -4.19754997e-03  2.11363774e+00]
 [ 3.17607717e-02  1.01972702e-03  9.99494979e-01  4.40524316e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.346502480999998
Centerline is valid?  [True, True]
Translation: X:13.46, Y:2.12, Z:0.44
[[ 9.94508588e-01 -9.98019122e-02 -3.14999358e-02  1.34577914e+01]
 [ 9.97192549e-02  9.95006799e-01 -4.18812787e-03  2.12270978e+00]
 [ 3.17606334e-02  1.02397901e-03  9.99494979e-01  4.42508722e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.406502480999997
Centerline is valid?  [True, True]
Translation: X:13.52, Y:2.13, Z:0.44
[[ 9.94801030e-01 -9.68433682e-02 -3.15003766e-02  1.35198091e+01]
 [ 9.67593343e-02  9.95299010e-01 -4.18480968e-03  2.12531710e+00]
 [ 3.17575647e-02  1.11509751e-03  9.99494979e-01  4.44472244e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.466502480999997
Centerline is valid?  [True, True]
Translation: X:13.58, Y:2.13, Z:0.45
[[ 9.95456371e-01 -8.98571358e-02 -3.15009452e-02  1.35801811e+01]
 [ 8.97697433e-02  9.95953772e-01 -4.18052548e-03  2.13218443e+00]
 [ 3.17491352e-02  1.33369895e-03  9.99494979e-01  4.46401195e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.526502480999998
Centerline is valid?  [True, True]
Translation: X:13.64, Y:2.14, Z:0.45
[[ 9.95529957e-01 -8.90381370e-02 -3.15010351e-02  1.36399070e+01]
 [ 8.89503567e-02  9.96027290e-01 -4.17984757e-03  2.14024560e+00]
 [ 3.17480565e-02  1.35913516e-03  9.99494979e-01  4.48316888e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.586502480999998
Centerline is valid?  [True, True]
Translation: X:13.70, Y:2.14, Z:0.45
[[ 9.95474330e-01 -8.96578866e-02 -3.15011250e-02  1.37015575e+01]
 [ 8.95704374e-02  9.95971722e-01 -4.17917012e-03  2.14460335e+00]
 [ 3.17489253e-02  1.33868703e-03  9.99494979e-01  4.50277752e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.646502480999997
Centerline is valid?  [True, True]
Translation: X:13.76, Y:2.15, Z:0.45
[[ 9.95425272e-01 -9.02007128e-02 -3.15017440e-02  1.37624438e+01]
 [ 9.01136823e-02  9.95922737e-01 -4.17449915e-03  2.15416897e+00]
 [ 3.17498459e-02  1.31666380e-03  9.99494979e-01  4.52233984e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.706502480999998
Centerline is valid?  [True, True]
Translation: X:13.82, Y:2.16, Z:0.45
[[ 9.95503784e-01 -8.93298187e-02 -3.15023628e-02  1.38228659e+01]
 [ 8.92425008e-02  9.96001199e-01 -4.16982417e-03  2.16280314e+00]
 [ 3.17488807e-02  1.33972611e-03  9.99494979e-01  4.54171683e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.766502480999998
Centerline is valid?  [True, True]
Translation: X:13.88, Y:2.17, Z:0.46
[[ 9.95447654e-01 -8.99527324e-02 -3.15035605e-02  1.38837519e+01]
 [ 8.98660122e-02  9.95945173e-01 -4.16075532e-03  2.17025055e+00]
 [ 3.17500904e-02  1.31071476e-03  9.99494979e-01  4.56116485e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.826502480999997
Centerline is valid?  [True, True]
Translation: X:13.95, Y:2.18, Z:0.46
[[ 9.95527651e-01 -8.90629570e-02 -3.15037505e-02  1.39459691e+01]
 [ 8.89758376e-02  9.96025100e-01 -4.15931657e-03  2.17640466e+00]
 [ 3.17489673e-02  1.33764207e-03  9.99494979e-01  4.58102321e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.886502480999997
Centerline is valid?  [True, True]
Translation: X:14.01, Y:2.18, Z:0.46
[[ 9.95253033e-01 -9.20805689e-02 -3.15050645e-02  1.40078729e+01]
 [ 9.19952733e-02  9.95750798e-01 -4.14933951e-03  2.17788082e+00]
 [ 3.17532667e-02  1.23132571e-03  9.99494979e-01  4.60053916e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.946502480999998
Centerline is valid?  [True, True]
Translation: X:14.07, Y:2.18, Z:0.46
[[ 9.95396245e-01 -9.05188964e-02 -3.15062618e-02  1.40702403e+01]
 [ 9.04331078e-02  9.95893926e-01 -4.14022843e-03  2.18091272e+00]
 [ 3.17516637e-02  1.27195866e-03  9.99494979e-01  4.62027193e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.006502480999998
Centerline is valid?  [True, True]
Translation: X:14.13, Y:2.19, Z:0.46
[[ 9.95670527e-01 -8.74498590e-02 -3.15075301e-02  1.41313781e+01]
 [ 8.73628422e-02  9.96167994e-01 -4.13055414e-03  2.19258896e+00]
 [ 3.17480094e-02  1.36008364e-03  9.99494980e-01  4.63997208e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.066502480999997
Centerline is valid?  [True, True]
Translation: X:14.19, Y:2.21, Z:0.47
[[ 9.95662348e-01 -8.75428002e-02 -3.15078999e-02  1.41922774e+01]
 [ 8.74559189e-02  9.96159839e-01 -4.12773083e-03  2.20504511e+00]
 [ 3.17482576e-02  1.35427383e-03  9.99494980e-01  4.65966808e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.126502480999998
Centerline is valid?  [True, True]
Translation: X:14.25, Y:2.21, Z:0.47
[[ 9.95918065e-01 -8.45835600e-02 -3.15092058e-02  1.42546090e+01]
 [ 8.44955162e-02  9.96415351e-01 -4.11773806e-03  2.21080371e+00]
 [ 3.17445493e-02  1.43854311e-03  9.99494980e-01  4.67949763e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.186502480999998
Centerline is valid?  [True, True]
Translation: X:14.32, Y:2.22, Z:0.47
[[ 9.95899366e-01 -8.48029373e-02 -3.15105628e-02  1.43158712e+01]
 [ 8.47153318e-02  9.96396729e-01 -4.10732770e-03  2.21586553e+00]
 [ 3.17453352e-02  1.42105726e-03  9.99494980e-01  4.69895946e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.246502480999997
Centerline is valid?  [True, True]
Translation: X:14.38, Y:2.22, Z:0.47
[[ 9.95715226e-01 -8.69378854e-02 -3.15117960e-02  1.43758950e+01]
 [ 8.68516460e-02  9.96212828e-01 -4.09784452e-03  2.22267579e+00]
 [ 3.17487134e-02  1.34343483e-03  9.99494980e-01  4.71810840e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.306502480999997
Centerline is valid?  [True, True]
Translation: X:14.44, Y:2.23, Z:0.47
[[ 9.95762873e-01 -8.63904157e-02 -3.15118659e-02  1.44385735e+01]
 [ 8.63039197e-02  9.96260431e-01 -4.09730679e-03  2.22970516e+00]
 [ 3.17479932e-02  1.36034844e-03  9.99494980e-01  4.73815464e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.366502480999998
Centerline is valid?  [True, True]
Translation: X:14.50, Y:2.24, Z:0.48
[[ 9.96437147e-01 -7.82299336e-02 -3.15133313e-02  1.44982298e+01]
 [ 7.81397208e-02  9.96934044e-01 -4.08600547e-03  2.24194490e+00]
 [ 3.17363607e-02  1.60900473e-03  9.99494980e-01  4.75739956e-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 14.426502480999998
Centerline is valid?  [True, True]
Translation: X:14.56, Y:2.25, Z:0.48
[[ 9.96914017e-01 -7.18981555e-02 -3.15134677e-02  1.45580946e+01]
 [ 7.18048210e-02  9.97410337e-01 -4.08495324e-03  2.25252793e+00]
 [ 3.17255590e-02  1.80952824e-03  9.99494980e-01  4.77670102e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.486502480999997
Centerline is valid?  [True, True]
Translation: X:14.62, Y:2.26, Z:0.48
[[ 9.96996018e-01 -7.07518551e-02 -3.15137206e-02  1.46203880e+01]
 [ 7.06580114e-02  9.97492243e-01 -4.08300102e-03  2.25645826e+00]
 [ 3.17235717e-02  1.84403893e-03  9.99494980e-01  4.79649115e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.546502480999997
Centerline is valid?  [True, True]
Translation: X:14.68, Y:2.26, Z:0.48
[[ 9.97002974e-01 -7.06532439e-02 -3.15149023e-02  1.46829436e+01]
 [ 7.05596392e-02  9.97499244e-01 -4.07385920e-03  2.26039725e+00]
 [ 3.17239226e-02  1.83796960e-03  9.99494980e-01  4.81632341e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.606502480999998
Centerline is valid?  [True, True]
Translation: X:14.74, Y:2.27, Z:0.48
[[ 9.96993931e-01 -7.07801540e-02 -3.15162099e-02  1.47436223e+01]
 [ 7.06869319e-02  9.97490273e-01 -4.06371805e-03  2.26666134e+00]
 [ 3.17247434e-02  1.82371805e-03  9.99494980e-01  4.83565340e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.666502480999997
Centerline is valid?  [True, True]
Translation: X:14.80, Y:2.27, Z:0.49
[[ 9.97059239e-01 -6.98540616e-02 -3.15164163e-02  1.48045586e+01]
 [ 6.97604290e-02  9.97555503e-01 -4.06211708e-03  2.27298376e+00]
 [ 3.17231299e-02  1.85157264e-03  9.99494980e-01  4.85511587e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.726502480999997
Centerline is valid?  [True, True]
Translation: X:14.86, Y:2.28, Z:0.49
[[ 9.97085337e-01 -6.94804598e-02 -3.15166003e-02  1.48646895e+01]
 [ 6.93866862e-02  9.97581575e-01 -4.06068868e-03  2.27790991e+00]
 [ 3.17225183e-02  1.86202068e-03  9.99494980e-01  4.87426868e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.786502480999998
Centerline is valid?  [True, True]
Translation: X:14.93, Y:2.28, Z:0.49
[[ 9.97165227e-01 -6.83242851e-02 -3.15166898e-02  1.49271454e+01]
 [ 6.82299580e-02  9.97661360e-01 -4.05999402e-03  2.28317706e+00]
 [ 3.17203798e-02  1.89810244e-03  9.99494980e-01  4.89417269e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.846502480999998
Centerline is valid?  [True, True]
Translation: X:14.99, Y:2.29, Z:0.49
[[ 9.97165879e-01 -6.83144664e-02 -3.15173657e-02  1.49881866e+01]
 [ 6.82202999e-02  9.97662042e-01 -4.05474049e-03  2.28875491e+00]
 [ 3.17206768e-02  1.89312472e-03  9.99494980e-01  4.91361768e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.906502480999997
Centerline is valid?  [True, True]
Translation: X:15.05, Y:2.29, Z:0.49
[[ 9.97090879e-01 -6.94000267e-02 -3.15184881e-02  1.50491461e+01]
 [ 6.93066758e-02  9.97587196e-01 -4.04599717e-03  2.29270697e+00]
 [ 3.17232324e-02  1.84978524e-03  9.99494980e-01  4.93295180e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.966502480999997
Centerline is valid?  [True, True]
Translation: X:15.11, Y:2.30, Z:0.50
[[ 9.97072918e-01 -6.96572953e-02 -3.15191645e-02  1.51114735e+01]
 [ 6.95642388e-02  9.97569290e-01 -4.04072078e-03  2.29883618e+00]
 [ 3.17240162e-02  1.83628657e-03  9.99494980e-01  4.95282518e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.026502480999998
Centerline is valid?  [True, True]
Translation: X:15.17, Y:2.31, Z:0.50
[[ 9.97105481e-01 -6.91890228e-02 -3.15204362e-02  1.51727157e+01]
 [ 6.90960464e-02  9.97601869e-01 -4.03077605e-03  2.30646469e+00]
 [ 3.17237315e-02  1.84117137e-03  9.99494980e-01  4.97239112e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.086502480999997
Centerline is valid?  [True, True]
Translation: X:15.23, Y:2.31, Z:0.50
[[ 9.97060184e-01 -6.98382255e-02 -3.15216041e-02  1.52343636e+01]
 [ 6.97458608e-02  9.97556686e-01 -4.02162221e-03  2.31208421e+00]
 [ 3.17254499e-02  1.81129797e-03  9.99494980e-01  4.99200855e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.146502480999997
Centerline is valid?  [True, True]
Translation: X:15.29, Y:2.32, Z:0.50
[[ 9.97029530e-01 -7.02743726e-02 -3.15218723e-02  1.52949494e+01]
 [ 7.01822914e-02  9.97526085e-01 -4.01951893e-03  2.31773305e+00]
 [ 3.17263590e-02  1.79530184e-03  9.99494980e-01  5.01133152e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.206502480999998
Centerline is valid?  [True, True]
Translation: X:15.36, Y:2.32, Z:0.50
[[ 9.97054170e-01 -6.99236390e-02 -3.15224837e-02  1.53556807e+01]
 [ 6.98315344e-02  9.97550720e-01 -4.01471784e-03  2.32416373e+00]
 [ 3.17260000e-02  1.80162775e-03  9.99494980e-01  5.03071702e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.266502480999998
Centerline is valid?  [True, True]
Translation: X:15.42, Y:2.33, Z:0.51
[[ 9.97303146e-01 -6.62779175e-02 -3.15225797e-02  1.54165424e+01]
 [ 6.61840218e-02  9.97799360e-01 -4.01396392e-03  2.32858597e+00]
 [ 3.17192471e-02  1.91684774e-03  9.99494980e-01  5.05008533e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.326502480999997
Centerline is valid?  [True, True]
Translation: X:15.48, Y:2.33, Z:0.51
[[ 9.97508272e-01 -6.31155238e-02 -3.15226705e-02  1.54767976e+01]
 [ 6.30200777e-02  9.98004190e-01 -4.01325113e-03  2.33475522e+00]
 [ 3.17130557e-02  2.01669006e-03  9.99494980e-01  5.06933280e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.386502480999997
Centerline is valid?  [True, True]
Translation: X:15.54, Y:2.34, Z:0.51
[[ 9.97826386e-01 -5.78689758e-02 -3.15227601e-02  1.55354641e+01]
 [ 5.77709453e-02  9.98321800e-01 -4.01254686e-03  2.34319366e+00]
 [ 3.17020606e-02  2.18272548e-03  9.99494980e-01  5.08817037e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.446502480999998
Centerline is valid?  [True, True]
Translation: X:15.60, Y:2.35, Z:0.51
[[ 9.97986879e-01 -5.50319214e-02 -3.15226305e-02  1.55976656e+01]
 [ 5.49324508e-02  9.98482006e-01 -4.01356475e-03  2.35001539e+00]
 [ 3.16956536e-02  2.27386961e-03  9.99494980e-01  5.10806731e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.506502480999997
Centerline is valid?  [True, True]
Translation: X:15.66, Y:2.36, Z:0.51
[[ 9.97963136e-01 -5.54601372e-02 -3.15238289e-02  1.56592827e+01]
 [ 5.53611755e-02  9.98458365e-01 -4.00413041e-03  2.36167033e+00]
 [ 3.16973003e-02  2.25077832e-03  9.99494980e-01  5.12791662e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.566502480999997
Centerline is valid?  [True, True]
Translation: X:15.72, Y:2.37, Z:0.51
[[ 9.97855566e-01 -5.73623353e-02 -3.15250992e-02  1.57210664e+01]
 [ 5.72646331e-02  9.98351045e-01 -3.99410376e-03  2.37051440e+00]
 [ 3.17022269e-02  2.18026542e-03  9.99494980e-01  5.14770211e-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 15.626502480999998
Centerline is valid?  [True, True]
Translation: X:15.78, Y:2.38, Z:0.52
[[ 9.97584028e-01 -6.19047335e-02 -3.15263484e-02  1.57822074e+01]
 [ 6.18095992e-02  9.98080007e-01 -3.98421956e-03  2.37973717e+00]
 [ 3.17124600e-02  2.02596285e-03  9.99494980e-01  5.16730053e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.686502480999998
Centerline is valid?  [True, True]
Translation: X:15.84, Y:2.39, Z:0.52
[[ 9.97554910e-01 -6.23720668e-02 -3.15266165e-02  1.58443821e+01]
 [ 6.22772316e-02  9.98050945e-01 -3.98209670e-03  2.38836428e+00]
 [ 3.17135410e-02  2.00896972e-03  9.99494980e-01  5.18724399e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.746502480999997
Centerline is valid?  [True, True]
Translation: X:15.91, Y:2.40, Z:0.52
[[ 9.97647168e-01 -6.08783499e-02 -3.15270563e-02  1.59051358e+01]
 [ 6.07828818e-02  9.98143082e-01 -3.97861138e-03  2.39533634e+00]
 [ 3.17107245e-02  2.05294504e-03  9.99494980e-01  5.20666573e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.806502480999997
Centerline is valid?  [True, True]
Translation: X:15.97, Y:2.40, Z:0.52
[[ 9.97697486e-01 -6.00477139e-02 -3.15277368e-02  1.59657273e+01]
 [ 5.99520028e-02  9.98193353e-01 -3.97321154e-03  2.40062501e+00]
 [ 3.17093596e-02  2.07391220e-03  9.99494980e-01  5.22595889e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.866502480999998
Centerline is valid?  [True, True]
Translation: X:16.03, Y:2.41, Z:0.52
[[ 9.97742378e-01 -5.92969968e-02 -3.15279892e-02  1.60271448e+01]
 [ 5.92009757e-02  9.98238185e-01 -3.97120821e-03  2.40640841e+00]
 [ 3.17079234e-02  2.09575500e-03  9.99494980e-01  5.24555111e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.926502480999996
Centerline is valid?  [True, True]
Translation: X:16.09, Y:2.42, Z:0.53
[[ 9.97639898e-01 -6.09967366e-02 -3.15282611e-02  1.60862913e+01]
 [ 6.09016283e-02  9.98135882e-01 -3.96904835e-03  2.41764026e+00]
 [ 3.17115877e-02  2.03955856e-03  9.99494980e-01  5.26464256e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.986502480999997
Centerline is valid?  [True, True]
Translation: X:16.15, Y:2.42, Z:0.53
[[ 9.97685012e-01 -6.02542866e-02 -3.15283493e-02  1.61482883e+01]
 [ 6.01588313e-02  9.98180929e-01 -3.96834763e-03  2.42449189e+00]
 [ 3.17101069e-02  2.06245231e-03  9.99494980e-01  5.28446724e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.046502480999997
Centerline is valid?  [True, True]
Translation: X:16.21, Y:2.43, Z:0.53
[[ 9.97784820e-01 -5.85776323e-02 -3.15295798e-02  1.62082652e+01]
 [ 5.84816520e-02  9.98280635e-01 -3.95854623e-03  2.42805090e+00]
 [ 3.17072513e-02  2.10587542e-03  9.99494980e-01  5.30347410e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.106502481
Centerline is valid?  [True, True]
Translation: X:16.27, Y:2.44, Z:0.53
[[ 9.97518377e-01 -6.29521569e-02 -3.15295798e-02  1.62683182e+01]
 [ 6.28583517e-02  9.98014608e-01 -3.95854623e-03  2.44142399e+00]
 [ 3.17161803e-02  1.96682519e-03  9.99494980e-01  5.32294777e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.166502481
Centerline is valid?  [True, True]
Translation: X:16.33, Y:2.45, Z:0.53
[[ 9.97511103e-01 -6.30672624e-02 -3.15296670e-02  1.63290509e+01]
 [ 6.29735363e-02  9.98007349e-01 -3.95785214e-03  2.44977164e+00]
 [ 3.17164503e-02  1.96246682e-03  9.99494980e-01  5.34243298e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.226502481
Centerline is valid?  [True, True]
Translation: X:16.39, Y:2.46, Z:0.54
[[ 9.97488013e-01 -6.34313266e-02 -3.15298455e-02  1.63878838e+01]
 [ 6.33378264e-02  9.97984302e-01 -3.95642936e-03  2.45893500e+00]
 [ 3.17172524e-02  1.94945898e-03  9.99494980e-01  5.36134711e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.286502481
Centerline is valid?  [True, True]
Translation: X:16.45, Y:2.47, Z:0.54
[[ 9.97390180e-01 -6.49515508e-02 -3.15297581e-02  1.64492251e+01]
 [ 6.48587852e-02  9.97886606e-01 -3.95712555e-03  2.46863892e+00]
 [ 3.17201448e-02  1.90181635e-03  9.99494980e-01  5.38108569e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.346502480999998
Centerline is valid?  [True, True]
Translation: X:16.51, Y:2.47, Z:0.54
[[ 9.97381223e-01 -6.50883137e-02 -3.15310394e-02  1.65116295e+01]
 [ 6.49959386e-02  9.97877723e-01 -3.94688981e-03  2.47212418e+00]
 [ 3.17210182e-02  1.88716429e-03  9.99494980e-01  5.40085281e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.406502481
Centerline is valid?  [True, True]
Translation: X:16.57, Y:2.48, Z:0.54
[[ 9.97449900e-01 -6.40270848e-02 -3.15314123e-02  1.65710638e+01]
 [ 6.39342754e-02  9.97946318e-01 -3.94390826e-03  2.48424622e+00]
 [ 3.17191738e-02  1.91791290e-03  9.99494980e-01  5.42006453e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.466502481
Centerline is valid?  [True, True]
Translation: X:16.63, Y:2.49, Z:0.54
[[ 9.97611951e-01 -6.14504606e-02 -3.15315045e-02  1.66314654e+01]
 [ 6.13563924e-02  9.98108133e-01 -3.94317083e-03  2.49205176e+00]
 [ 3.17141608e-02  1.99909498e-03  9.99494980e-01  5.43942351e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.526502480999998
Centerline is valid?  [True, True]
Translation: X:16.69, Y:2.50, Z:0.55
[[ 9.97641494e-01 -6.09689143e-02 -3.15315953e-02  1.66927263e+01]
 [ 6.08746294e-02  9.98137634e-01 -3.94244495e-03  2.49913787e+00]
 [ 3.17132385e-02  2.01367249e-03  9.99494980e-01  5.45902526e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.586502481
Centerline is valid?  [True, True]
Translation: X:16.76, Y:2.50, Z:0.55
[[ 9.97627533e-01 -6.11967914e-02 -3.15318662e-02  1.67561737e+01]
 [ 6.11026881e-02  9.98123708e-01 -3.94027697e-03  2.50428290e+00]
 [ 3.17138355e-02  2.00424701e-03  9.99494980e-01  5.47923223e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.646502481
Centerline is valid?  [True, True]
Translation: X:16.82, Y:2.51, Z:0.55
[[ 9.97566135e-01 -6.21888913e-02 -3.15332840e-02  1.68194494e+01]
 [ 6.20956398e-02  9.98062471e-01 -3.92889772e-03  2.50871092e+00]
 [ 3.17165211e-02  1.96125587e-03  9.99494980e-01  5.49930590e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.706502480999998
Centerline is valid?  [True, True]
Translation: X:16.88, Y:2.52, Z:0.55
[[ 9.97241733e-01 -6.71899552e-02 -3.15346758e-02  1.68779199e+01]
 [ 6.70995467e-02  9.97738594e-01 -3.91769514e-03  2.51831302e+00]
 [ 3.17265928e-02  1.79092665e-03  9.99494980e-01  5.51806805e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.766502481
Centerline is valid?  [True, True]
Translation: X:16.94, Y:2.52, Z:0.55
[[ 9.96966641e-01 -7.11553823e-02 -3.15345621e-02  1.69388480e+01]
 [ 7.10669216e-02  9.97463853e-01 -3.91860991e-03  2.52265786e+00]
 [ 3.17334160e-02  1.66565911e-03  9.99494980e-01  5.53746661e-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 16.826502481
Centerline is valid?  [True, True]
Translation: X:17.00, Y:2.53, Z:0.56
[[ 9.96991256e-01 -7.08096121e-02 -3.15346447e-02  1.70007474e+01]
 [ 7.07209999e-02  9.97488441e-01 -3.91794535e-03  2.53043501e+00]
 [ 3.17328717e-02  1.67599565e-03  9.99494980e-01  5.55729742e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.886502480999997
Centerline is valid?  [True, True]
Translation: X:17.06, Y:2.54, Z:0.56
[[ 9.97215505e-01 -6.75775279e-02 -3.15359136e-02  1.70616303e+01]
 [ 6.74876274e-02  9.97712459e-01 -3.90770502e-03  2.53861583e+00]
 [ 3.17278469e-02  1.76854005e-03  9.99494980e-01  5.57677030e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.946502481
Centerline is valid?  [True, True]
Translation: X:17.12, Y:2.55, Z:0.56
[[ 9.97248282e-01 -6.70915668e-02 -3.15370653e-02  1.71233700e+01]
 [ 6.70017178e-02  9.97745244e-01 -3.89838776e-03  2.54574385e+00]
 [ 3.17275059e-02  1.77462295e-03  9.99494981e-01  5.59647743e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.006502481
Centerline is valid?  [True, True]
Translation: X:17.19, Y:2.55, Z:0.56
[[ 9.97224917e-01 -6.74377963e-02 -3.15374254e-02  1.71852358e+01]
 [ 6.73482118e-02  9.97721927e-01 -3.89547203e-03  2.54662952e+00]
 [ 3.17282829e-02  1.76067256e-03  9.99494981e-01  5.61601653e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.066502481
Centerline is valid?  [True, True]
Translation: X:17.25, Y:2.56, Z:0.56
[[ 9.97243967e-01 -6.71554177e-02 -3.15376037e-02  1.72467047e+01]
 [ 6.70657380e-02  9.97740960e-01 -3.89402845e-03  2.55956465e+00]
 [ 3.17278641e-02  1.76820372e-03  9.99494981e-01  5.63590822e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.126502481
Centerline is valid?  [True, True]
Translation: X:17.31, Y:2.57, Z:0.57
[[ 9.97206643e-01 -6.77068224e-02 -3.15388281e-02  1.73060054e+01]
 [ 6.76177310e-02  9.97703742e-01 -3.88408653e-03  2.56892208e+00]
 [ 3.17293859e-02  1.74065289e-03  9.99494981e-01  5.65492911e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.186502480999998
Centerline is valid?  [True, True]
Translation: X:17.37, Y:2.57, Z:0.57
[[ 9.97018050e-01 -7.04294341e-02 -3.15389152e-02  1.73678815e+01]
 [ 7.03417227e-02  9.97515394e-01 -3.88337923e-03  2.57348451e+00]
 [ 3.17340576e-02  1.65329756e-03  9.99494981e-01  5.67462736e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.246502481
Centerline is valid?  [True, True]
Translation: X:17.43, Y:2.58, Z:0.57
[[ 9.96374277e-01 -7.90163246e-02 -3.15391818e-02  1.74261813e+01]
 [ 7.89329696e-02  9.96872370e-01 -3.88121222e-03  2.58423643e+00]
 [ 3.17472181e-02  1.37765874e-03  9.99494981e-01  5.69342950e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.306502481
Centerline is valid?  [True, True]
Translation: X:17.49, Y:2.59, Z:0.57
[[ 9.96243178e-01 -8.06524455e-02 -3.15390876e-02  1.74887878e+01]
 [ 8.05698844e-02  9.96741403e-01 -3.88197771e-03  2.58678929e+00]
 [ 3.17494054e-02  1.32629316e-03  9.99494981e-01  5.71328837e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.366502480999998
Centerline is valid?  [True, True]
Translation: X:17.55, Y:2.59, Z:0.57
[[ 9.96307029e-01 -7.98593449e-02 -3.15402876e-02  1.75493302e+01]
 [ 7.97766961e-02  9.96805239e-01 -3.87220338e-03  2.59246526e+00]
 [ 3.17487555e-02  1.34172350e-03  9.99494981e-01  5.73255940e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.426502481
Centerline is valid?  [True, True]
Translation: X:17.61, Y:2.60, Z:0.58
[[ 9.96468581e-01 -7.78175230e-02 -3.15404570e-02  1.76098112e+01]
 [ 7.77338970e-02  9.96966628e-01 -3.87082343e-03  2.60453425e+00]
 [ 3.17460009e-02  1.40539130e-03  9.99494981e-01  5.75210484e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.486502481
Centerline is valid?  [True, True]
Translation: X:17.67, Y:2.61, Z:0.58
[[ 9.97199738e-01 -6.78076085e-02 -3.15406203e-02  1.76703893e+01]
 [ 6.77190276e-02  9.97696928e-01 -3.86949193e-03  2.61329656e+00]
 [ 3.17303610e-02  1.72275620e-03  9.99494981e-01  5.77155305e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.546502480999997
Centerline is valid?  [True, True]
Translation: X:17.73, Y:2.62, Z:0.58
[[ 9.97467312e-01 -6.37505816e-02 -3.15408313e-02  1.77304188e+01]
 [ 6.36600331e-02  9.97964148e-01 -3.86777168e-03  2.62153069e+00]
 [ 3.17231915e-02  1.85008546e-03  9.99494981e-01  5.79080553e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.606502481
Centerline is valid?  [True, True]
Translation: X:17.79, Y:2.63, Z:0.58
[[ 9.97412658e-01 -6.46000038e-02 -3.15409154e-02  1.77911128e+01]
 [ 6.45099000e-02  9.97909574e-01 -3.86708527e-03  2.62754408e+00]
 [ 3.17247952e-02  1.82237850e-03  9.99494981e-01  5.81018749e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.666502481
Centerline is valid?  [True, True]
Translation: X:17.85, Y:2.63, Z:0.58
[[ 9.97241159e-01 -6.71954672e-02 -3.15410858e-02  1.78528130e+01]
 [ 6.71067008e-02  9.97738316e-01 -3.86569499e-03  2.63258797e+00]
 [ 3.17295070e-02  1.73841194e-03  9.99494981e-01  5.82984561e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.726502480999997
Centerline is valid?  [True, True]
Translation: X:17.91, Y:2.64, Z:0.58
[[ 9.97176128e-01 -6.81531930e-02 -3.15422321e-02  1.79145356e+01]
 [ 6.80651999e-02  9.97673422e-01 -3.85631889e-03  2.63506059e+00]
 [ 3.17316671e-02  1.69850081e-03  9.99494981e-01  5.84936777e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.786502481
Centerline is valid?  [True, True]
Translation: X:17.97, Y:2.65, Z:0.59
[[ 9.97014814e-01 -7.04734654e-02 -3.15428345e-02  1.79740521e+01]
 [ 7.03867854e-02  9.97512339e-01 -3.85138503e-03  2.64738445e+00]
 [ 3.17357871e-02  1.61968920e-03  9.99494981e-01  5.86859833e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.846502480999998
Centerline is valid?  [True, True]
Translation: X:18.04, Y:2.65, Z:0.59
[[ 9.96641129e-01 -7.55745098e-02 -3.15428694e-02  1.80351646e+01]
 [ 7.54903858e-02  9.97139093e-01 -3.85109946e-03  2.65215086e+00]
 [ 3.17436731e-02  1.45698073e-03  9.99494981e-01  5.88806681e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.906502481
Centerline is valid?  [True, True]
Translation: X:18.10, Y:2.66, Z:0.59
[[ 9.96112735e-01 -8.22463134e-02 -3.15430455e-02  1.80967758e+01]
 [ 8.21655713e-02  9.96611258e-01 -3.84965640e-03  2.65696495e+00]
 [ 3.17527743e-02  1.24293941e-03  9.99494981e-01  5.90768816e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.966502481
Centerline is valid?  [True, True]
Translation: X:18.16, Y:2.66, Z:0.59
[[ 9.96141409e-01 -8.18981865e-02 -3.15433138e-02  1.81565777e+01]
 [ 8.18173398e-02  9.96639915e-01 -3.84745716e-03  2.66453961e+00]
 [ 3.17524253e-02  1.25182138e-03  9.99494981e-01  5.92684074e-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 18.026502480999998
Centerline is valid?  [True, True]
Translation: X:18.22, Y:2.68, Z:0.59
[[ 9.96498915e-01 -7.74269426e-02 -3.15433138e-02  1.82159567e+01]
 [ 7.73438595e-02  9.96997053e-01 -3.84745716e-03  2.67574402e+00]
 [ 3.17464877e-02  1.39430526e-03  9.99494981e-01  5.94601160e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.086502481
Centerline is valid?  [True, True]
Translation: X:18.27, Y:2.69, Z:0.60
[[ 9.96737162e-01 -7.42970012e-02 -3.15434037e-02  1.82744278e+01]
 [ 7.42123773e-02  9.97235040e-01 -3.84671981e-03  2.69101246e+00]
 [ 3.17419872e-02  1.49325761e-03  9.99494981e-01  5.96504827e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.146502481
Centerline is valid?  [True, True]
Translation: X:18.33, Y:2.71, Z:0.60
[[ 9.96914711e-01 -7.18753915e-02 -3.15434037e-02  1.83337980e+01]
 [ 7.17895583e-02  9.97412383e-01 -3.84671981e-03  2.70593419e+00]
 [ 3.17382659e-02  1.57036455e-03  9.99494981e-01  5.98435939e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.206502480999998
Centerline is valid?  [True, True]
Translation: X:18.39, Y:2.72, Z:0.60
[[ 9.96903660e-01 -7.20284837e-02 -3.15434616e-02  1.83930953e+01]
 [ 7.19427420e-02  9.97401348e-01 -3.84624505e-03  2.72023250e+00]
 [ 3.17385303e-02  1.56501265e-03  9.99494981e-01  6.00362080e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.266502481
Centerline is valid?  [True, True]
Translation: X:18.45, Y:2.73, Z:0.60
[[ 9.96897016e-01 -7.21203814e-02 -3.15434616e-02  1.84538896e+01]
 [ 7.20346856e-02  9.97394711e-01 -3.84624505e-03  2.72900554e+00]
 [ 3.17386744e-02  1.56208687e-03  9.99494981e-01  6.02314471e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.326502481
Centerline is valid?  [True, True]
Translation: X:18.52, Y:2.74, Z:0.60
[[ 9.96953275e-01 -7.13381884e-02 -3.15440989e-02  1.85154730e+01]
 [ 7.12522673e-02  9.97450932e-01 -3.84101143e-03  2.74124369e+00]
 [ 3.17377016e-02  1.58172036e-03  9.99494981e-01  6.04302064e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.386502480999997
Centerline is valid?  [True, True]
Translation: X:18.58, Y:2.75, Z:0.61
[[ 9.96872905e-01 -7.24520721e-02 -3.15453280e-02  1.85769334e+01]
 [ 7.23670266e-02  9.97370712e-01 -3.83089056e-03  2.75004004e+00]
 [ 3.17399422e-02  1.53606941e-03  9.99494981e-01  6.06269668e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.446502481
Centerline is valid?  [True, True]
Translation: X:18.64, Y:2.76, Z:0.61
[[ 9.96739831e-01 -7.42602180e-02 -3.15456779e-02  1.86366846e+01]
 [ 7.41761667e-02  9.97237806e-01 -3.82800657e-03  2.76406700e+00]
 [ 3.17428113e-02  1.47558916e-03  9.99494981e-01  6.08207559e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.506502481
Centerline is valid?  [True, True]
Translation: X:18.70, Y:2.77, Z:0.61
[[ 9.96375127e-01 -7.90029466e-02 -3.15458537e-02  1.86974496e+01]
 [ 7.89213119e-02  9.96873505e-01 -3.82655778e-03  2.77401476e+00]
 [ 3.17495350e-02  1.32304683e-03  9.99494981e-01  6.10162641e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.566502480999997
Centerline is valid?  [True, True]
Translation: X:18.76, Y:2.78, Z:0.61
[[ 9.96233604e-01 -8.07679005e-02 -3.15460284e-02  1.87581386e+01]
 [ 8.06871945e-02  9.96732133e-01 -3.82511655e-03  2.78307318e+00]
 [ 3.17518868e-02  1.26534912e-03  9.99494981e-01  6.12111921e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.626502481
Centerline is valid?  [True, True]
Translation: X:18.82, Y:2.79, Z:0.61
[[ 9.96355971e-01 -7.92440623e-02 -3.15461147e-02  1.88187346e+01]
 [ 7.91626163e-02  9.96854380e-01 -3.82440526e-03  2.79331198e+00]
 [ 3.17499440e-02  1.31319604e-03  9.99494981e-01  6.14063211e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.686502480999998
Centerline is valid?  [True, True]
Translation: X:18.88, Y:2.81, Z:0.62
[[ 9.96863291e-01 -7.25838227e-02 -3.15462893e-02  1.88792937e+01]
 [ 7.24990933e-02  9.97361151e-01 -3.82296418e-03  2.80802931e+00]
 [ 3.17405288e-02  1.52389528e-03  9.99494981e-01  6.16030024e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.746502481
Centerline is valid?  [True, True]
Translation: X:18.94, Y:2.82, Z:0.62
[[ 9.96648997e-01 -7.54690123e-02 -3.15468746e-02  1.89413557e+01]
 [ 7.53858771e-02  9.97147126e-01 -3.81812792e-03  2.81684442e+00]
 [ 3.17450257e-02  1.42714455e-03  9.99494981e-01  6.18019627e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.806502481
Centerline is valid?  [True, True]
Translation: X:19.00, Y:2.82, Z:0.62
[[ 9.96374686e-01 -7.90079255e-02 -3.15473033e-02  1.90022516e+01]
 [ 7.89266718e-02  9.96873126e-01 -3.81458233e-03  2.82267626e+00]
 [ 3.17500411e-02  1.31082962e-03  9.99494981e-01  6.19961810e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.866502480999998
Centerline is valid?  [True, True]
Translation: X:19.06, Y:2.83, Z:0.62
[[ 9.96226864e-01 -8.08500778e-02 -3.15483881e-02  1.90616532e+01]
 [ 8.07700302e-02  9.96725499e-01 -3.80558946e-03  2.83418228e+00]
 [ 3.17527651e-02  1.24306619e-03  9.99494981e-01  6.21875160e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.926502481
Centerline is valid?  [True, True]
Translation: X:19.12, Y:2.84, Z:0.62
[[ 9.96136828e-01 -8.19519412e-02 -3.15483768e-02  1.91231644e+01]
 [ 8.18724423e-02  9.96635550e-01 -3.80568302e-03  2.84470676e+00]
 [ 3.17541170e-02  1.20803835e-03  9.99494981e-01  6.23856848e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.986502481
Centerline is valid?  [True, True]
Translation: X:19.18, Y:2.86, Z:0.63
[[ 9.95905619e-01 -8.47152633e-02 -3.15487312e-02  1.91834448e+01]
 [ 8.46372413e-02  9.96404575e-01 -3.80274348e-03  2.85643752e+00]
 [ 3.17574505e-02  1.11697603e-03  9.99494981e-01  6.25802413e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.046502480999997
Centerline is valid?  [True, True]
Translation: X:19.25, Y:2.87, Z:0.63
[[ 9.95834304e-01 -8.55494288e-02 -3.15489058e-02  1.92453481e+01]
 [ 8.54718706e-02  9.96333333e-01 -3.80129432e-03  2.86706888e+00]
 [ 3.17584250e-02  1.08891530e-03  9.99494981e-01  6.27795922e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.106502481
Centerline is valid?  [True, True]
Translation: X:19.31, Y:2.88, Z:0.63
[[ 9.95917581e-01 -8.45742182e-02 -3.15495548e-02  1.93063139e+01]
 [ 8.44963421e-02  9.96416559e-01 -3.79590000e-03  2.88097791e+00]
 [ 3.17575341e-02  1.11458157e-03  9.99494981e-01  6.29769822e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.166502481
Centerline is valid?  [True, True]
Translation: X:19.37, Y:2.89, Z:0.63
[[ 9.96620368e-01 -7.58445398e-02 -3.15507196e-02  1.93659020e+01]
 [ 7.57626012e-02  9.97118696e-01 -3.78619351e-03  2.89039828e+00]
 [ 3.17469745e-02  1.38303298e-03  9.99494981e-01  6.31680426e-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 19.226502480999997
Centerline is valid?  [True, True]
Translation: X:19.43, Y:2.90, Z:0.63
[[ 9.96982990e-01 -7.09187522e-02 -3.15507387e-02  1.94266293e+01]
 [ 7.08343571e-02  9.97480907e-01 -3.78603418e-03  2.90264727e+00]
 [ 3.17397603e-02  1.53973538e-03  9.99494981e-01  6.33643682e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.286502481
Centerline is valid?  [True, True]
Translation: X:19.49, Y:2.91, Z:0.64
[[ 9.96920824e-01 -7.17868723e-02 -3.15517908e-02  1.94878948e+01]
 [ 7.17031883e-02  9.97418861e-01 -3.77724633e-03  2.91185219e+00]
 [ 3.17415079e-02  1.50325153e-03  9.99494981e-01  6.35606914e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.346502480999998
Centerline is valid?  [True, True]
Translation: X:19.55, Y:2.92, Z:0.64
[[ 9.96649105e-01 -7.54650575e-02 -3.15529033e-02  1.95483626e+01]
 [ 7.53835062e-02  9.97147496e-01 -3.76792999e-03  2.92109884e+00]
 [ 3.17472456e-02  1.37673557e-03  9.99494981e-01  6.37544746e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.406502480999997
Centerline is valid?  [True, True]
Translation: X:19.61, Y:2.93, Z:0.64
[[ 9.96657410e-01 -7.53552412e-02 -3.15530606e-02  1.96089725e+01]
 [ 7.52736767e-02  9.97155798e-01 -3.76661235e-03  2.92870511e+00]
 [ 3.17471513e-02  1.37890723e-03  9.99494981e-01  6.39485964e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.466502481
Centerline is valid?  [True, True]
Translation: X:19.67, Y:2.94, Z:0.64
[[ 9.96843574e-01 -7.28511314e-02 -3.15531650e-02  1.96693895e+01]
 [ 7.27683426e-02  9.97341761e-01 -3.76573750e-03  2.94017205e+00]
 [ 3.17436274e-02  1.45777971e-03  9.99494981e-01  6.41435920e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.526502480999998
Centerline is valid?  [True, True]
Translation: X:19.73, Y:2.95, Z:0.64
[[ 9.97073987e-01 -6.96265241e-02 -3.15533278e-02  1.97317888e+01]
 [ 6.95421675e-02  9.97571910e-01 -3.76437246e-03  2.94981879e+00]
 [ 3.17388137e-02  1.55907105e-03  9.99494981e-01  6.43441274e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.586502481
Centerline is valid?  [True, True]
Translation: X:19.79, Y:2.96, Z:0.65
[[ 9.97132223e-01 -6.87868869e-02 -3.15546130e-02  1.97912275e+01]
 [ 6.87024520e-02  9.97630134e-01 -3.75356911e-03  2.95799280e+00]
 [ 3.17380291e-02  1.57492543e-03  9.99494981e-01  6.45341514e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.646502481
Centerline is valid?  [True, True]
Translation: X:19.85, Y:2.97, Z:0.65
[[ 9.97287122e-01 -6.65034227e-02 -3.15545682e-02  1.98520928e+01]
 [ 6.64178360e-02  9.97784836e-01 -3.75394542e-03  2.96812046e+00]
 [ 3.17343199e-02  1.64797529e-03  9.99494981e-01  6.47301342e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.706502480999998
Centerline is valid?  [True, True]
Translation: X:19.91, Y:2.98, Z:0.65
[[ 9.97209832e-01 -6.76523844e-02 -3.15548018e-02  1.99113811e+01]
 [ 6.75674333e-02  9.97707655e-01 -3.75198107e-03  2.97660792e+00]
 [ 3.17362977e-02  1.60943545e-03  9.99494981e-01  6.49203705e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.766502481
Centerline is valid?  [True, True]
Translation: X:19.97, Y:2.98, Z:0.65
[[ 9.97213618e-01 -6.75965503e-02 -3.15548018e-02  1.99724824e+01]
 [ 6.75115713e-02  9.97711436e-01 -3.75198107e-03  2.98058359e+00]
 [ 3.17362076e-02  1.61121237e-03  9.99494981e-01  6.51147642e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.826502481
Centerline is valid?  [True, True]
Translation: X:20.03, Y:2.99, Z:0.65
[[ 9.97191231e-01 -6.79259500e-02 -3.15549526e-02  2.00332979e+01]
 [ 6.78411755e-02  9.97689083e-01 -3.75071208e-03  2.98805106e+00]
 [ 3.17368024e-02  1.59945212e-03  9.99494981e-01  6.53094843e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.886502480999997
Centerline is valid?  [True, True]
Translation: X:20.09, Y:2.99, Z:0.66
[[ 9.97414845e-01 -6.45592871e-02 -3.15551126e-02  2.00942394e+01]
 [ 6.44728750e-02  9.97912416e-01 -3.74936513e-03  2.99159757e+00]
 [ 3.17312950e-02  1.70522361e-03  9.99494981e-01  6.55031260e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.946502481
Centerline is valid?  [True, True]
Translation: X:20.15, Y:3.00, Z:0.66
[[ 9.97637618e-01 -6.10201201e-02 -3.15551463e-02  2.01544540e+01]
 [ 6.09319520e-02  9.98134881e-01 -3.74908197e-03  3.00136125e+00]
 [ 3.17250616e-02  1.81750855e-03  9.99494981e-01  6.56968744e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.006502481
Centerline is valid?  [True, True]
Translation: X:20.21, Y:3.01, Z:0.66
[[ 9.97873225e-01 -5.70376559e-02 -3.15552259e-02  2.02137505e+01]
 [ 5.69475249e-02  9.98370136e-01 -3.74841171e-03  3.00655227e+00]
 [ 3.17175958e-02  1.94344767e-03  9.99494981e-01  6.58859837e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.066502480999997
Centerline is valid?  [True, True]
Translation: X:20.27, Y:3.01, Z:0.66
[[ 9.97652071e-01 -6.07833568e-02 -3.15551776e-02  2.02742368e+01]
 [ 6.06950790e-02  9.98149314e-01 -3.74881840e-03  3.01087115e+00]
 [ 3.17246446e-02  1.82477244e-03  9.99494981e-01  6.60785920e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.126502481
Centerline is valid?  [True, True]
Translation: X:20.33, Y:3.02, Z:0.66
[[ 9.97300244e-01 -6.63060600e-02 -3.15551776e-02  2.03349227e+01]
 [ 6.62205367e-02  9.97797969e-01 -3.74881840e-03  3.01689334e+00]
 [ 3.17342615e-02  1.64909671e-03  9.99494981e-01  6.62724429e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.186502480999998
Centerline is valid?  [True, True]
Translation: X:20.40, Y:3.02, Z:0.66
[[ 9.96970032e-01 -7.10986981e-02 -3.15551974e-02  2.03955895e+01]
 [ 7.10155733e-02  9.97468163e-01 -3.74865132e-03  3.02116214e+00]
 [ 3.17418290e-02  1.49638259e-03  9.99494981e-01  6.64655652e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.246502480999997
Centerline is valid?  [True, True]
Translation: X:20.46, Y:3.02, Z:0.67
[[ 9.96657485e-01 -7.53533512e-02 -3.15551963e-02  2.04580444e+01]
 [ 7.52723530e-02  9.97155966e-01 -3.74866115e-03  3.02448338e+00]
 [ 3.17479264e-02  1.36089732e-03  9.99494981e-01  6.66639887e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.306502481
Centerline is valid?  [True, True]
Translation: X:20.52, Y:3.03, Z:0.67
[[ 9.96505403e-01 -7.73380942e-02 -3.15563236e-02  2.05176249e+01]
 [ 7.72583896e-02  9.97004092e-01 -3.73914715e-03  3.03232623e+00]
 [ 3.17509623e-02  1.28808959e-03  9.99494981e-01  6.68544285e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.366502480999998
Centerline is valid?  [True, True]
Translation: X:20.58, Y:3.04, Z:0.67
[[ 9.96741445e-01 -7.42339913e-02 -3.15563998e-02  2.05783457e+01]
 [ 7.41527542e-02  9.97239887e-01 -3.73850348e-03  3.03744801e+00]
 [ 3.17468247e-02  1.38632740e-03  9.99494981e-01  6.70480133e-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 20.426502481
Centerline is valid?  [True, True]
Translation: X:20.64, Y:3.05, Z:0.67
[[ 9.97177496e-01 -6.81265824e-02 -3.15564504e-02  2.06386277e+01]
 [ 6.80423069e-02  9.97675434e-01 -3.73807654e-03  3.04949113e+00]
 [ 3.17377577e-02  1.58035212e-03  9.99494981e-01  6.72428152e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.486502481
Centerline is valid?  [True, True]
Translation: X:20.70, Y:3.06, Z:0.67
[[ 9.97650205e-01 -6.08132442e-02 -3.15565815e-02  2.06983868e+01]
 [ 6.07253549e-02  9.98147517e-01 -3.73697006e-03  3.05895419e+00]
 [ 3.17253807e-02  1.81190434e-03  9.99494981e-01  6.74349571e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.546502480999997
Centerline is valid?  [True, True]
Translation: X:20.76, Y:3.06, Z:0.68
[[ 9.97784792e-01 -5.85635439e-02 -3.15566149e-02  2.07591855e+01]
 [ 5.84745423e-02  9.98281907e-01 -3.73668723e-03  3.06412182e+00]
 [ 3.17212314e-02  1.88315108e-03  9.99494981e-01  6.76288282e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.606502481
Centerline is valid?  [True, True]
Translation: X:20.82, Y:3.07, Z:0.68
[[ 9.97870800e-01 -5.70792567e-02 -3.15566928e-02  2.08211070e+01]
 [ 5.69895364e-02  9.98367785e-01 -3.73602942e-03  3.07231991e+00]
 [ 3.17184353e-02  1.92967337e-03  9.99494981e-01  6.78273530e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.666502481
Centerline is valid?  [True, True]
Translation: X:20.88, Y:3.08, Z:0.68
[[ 9.98092658e-01 -5.30584802e-02 -3.15570051e-02  2.08821562e+01]
 [ 5.29668415e-02  9.98589293e-01 -3.73338995e-03  3.07654970e+00]
 [ 3.17105754e-02  2.05479421e-03  9.99494981e-01  6.80215144e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.726502480999997
Centerline is valid?  [True, True]
Translation: X:20.94, Y:3.08, Z:0.68
[[ 9.97959124e-01 -5.55128822e-02 -3.15579971e-02  2.09442356e+01]
 [ 5.54227299e-02  9.98456031e-01 -3.72498538e-03  3.08189036e+00]
 [ 3.17160572e-02  1.96835279e-03  9.99494981e-01  6.82189789e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.786502481
Centerline is valid?  [True, True]
Translation: X:21.01, Y:3.09, Z:0.68
[[ 9.97965001e-01 -5.54069624e-02 -3.15582994e-02  2.10051270e+01]
 [ 5.53168381e-02  9.98461913e-01 -3.72242320e-03  3.08657169e+00]
 [ 3.17160081e-02  1.96914274e-03  9.99494981e-01  6.84128201e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.846502480999998
Centerline is valid?  [True, True]
Translation: X:21.07, Y:3.09, Z:0.69
[[ 9.98194134e-01 -5.11124569e-02 -3.15592566e-02  2.10667743e+01]
 [ 5.10204513e-02  9.98690702e-01 -3.71428944e-03  3.08563358e+00]
 [ 3.17077826e-02  2.09741441e-03  9.99494981e-01  6.86066095e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.906502480999997
Centerline is valid?  [True, True]
Translation: X:21.13, Y:3.09, Z:0.69
[[ 9.98528551e-01 -4.40992095e-02 -3.15593341e-02  2.11274644e+01]
 [ 4.40037386e-02  9.99024464e-01 -3.71363084e-03  3.08748131e+00]
 [ 3.16923151e-02  2.31943773e-03  9.99494981e-01  6.87988856e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.966502481
Centerline is valid?  [True, True]
Translation: X:21.19, Y:3.09, Z:0.69
[[ 9.98837350e-01 -3.64411055e-02 -3.15593856e-02  2.11880367e+01]
 [ 3.63418485e-02  9.99332518e-01 -3.71319338e-03  3.08775197e+00]
 [ 3.16736332e-02  2.56194983e-03  9.99494981e-01  6.89902181e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.026502480999998
Centerline is valid?  [True, True]
Translation: X:21.25, Y:3.09, Z:0.69
[[ 9.98917110e-01 -3.41849636e-02 -3.15594068e-02  2.12493769e+01]
 [ 3.40845940e-02  9.99412054e-01 -3.71301295e-03  3.09022286e+00]
 [ 3.16677808e-02  2.63330259e-03  9.99494981e-01  6.91848089e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.086502480999997
Centerline is valid?  [True, True]
Translation: X:21.31, Y:3.09, Z:0.69
[[ 9.98830105e-01 -3.66389615e-02 -3.15595796e-02  2.13097606e+01]
 [ 3.65398543e-02  9.99325304e-01 -3.71154406e-03  3.09107013e+00]
 [ 3.16742736e-02  2.55401950e-03  9.99494981e-01  6.93756990e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.146502481
Centerline is valid?  [True, True]
Translation: X:21.37, Y:3.09, Z:0.70
[[ 9.98795375e-01 -3.75737548e-02 -3.15596653e-02  2.13705339e+01]
 [ 3.74751341e-02  9.99290671e-01 -3.71081508e-03  3.09035100e+00]
 [ 3.16767083e-02  2.52364225e-03  9.99494981e-01  6.95672837e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.206502480999998
Centerline is valid?  [True, True]
Translation: X:21.43, Y:3.10, Z:0.70
[[ 9.98516264e-01 -4.43763052e-02 -3.15596853e-02  2.14307916e+01]
 [ 4.42810659e-02  9.99012221e-01 -3.71064453e-03  3.09789903e+00]
 [ 3.16931761e-02  2.30764241e-03  9.99494981e-01  6.97603430e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.266502481
Centerline is valid?  [True, True]
Translation: X:21.49, Y:3.10, Z:0.70
[[ 9.98450413e-01 -4.58340502e-02 -3.15596803e-02  2.14938197e+01]
 [ 4.57395337e-02  9.98946508e-01 -3.71068739e-03  3.09937771e+00]
 [ 3.16965083e-02  2.26141230e-03  9.99494981e-01  6.99599098e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.326502481
Centerline is valid?  [True, True]
Translation: X:21.56, Y:3.10, Z:0.70
[[ 9.98492347e-01 -4.49107896e-02 -3.15603159e-02  2.15572222e+01]
 [ 4.48159846e-02  9.98988388e-01 -3.70527351e-03  3.09593799e+00]
 [ 3.16947959e-02  2.28528062e-03  9.99494981e-01  7.01585177e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.386502480999997
Centerline is valid?  [True, True]
Translation: X:21.62, Y:3.09, Z:0.70
[[ 9.98511552e-01 -4.44808967e-02 -3.15615312e-02  2.16202137e+01]
 [ 4.43862045e-02  9.99007614e-01 -3.69489221e-03  3.09311288e+00]
 [ 3.16945621e-02  2.28849598e-03  9.99494981e-01  7.03557850e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.446502481
Centerline is valid?  [True, True]
Translation: X:21.68, Y:3.09, Z:0.71
[[ 9.98586161e-01 -4.27729961e-02 -3.15618465e-02  2.16817162e+01]
 [ 4.26775404e-02  9.99082076e-01 -3.69219773e-03  3.09310716e+00]
 [ 3.16908014e-02  2.33999558e-03  9.99494981e-01  7.05498415e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.506502481
Centerline is valid?  [True, True]
Translation: X:21.74, Y:3.09, Z:0.71
[[ 9.98812816e-01 -3.71051900e-02 -3.15620495e-02  2.17431202e+01]
 [ 3.70069760e-02  9.99308193e-01 -3.69046126e-03  3.09240038e+00]
 [ 3.16771499e-02  2.51806400e-03  9.99494981e-01  7.07433849e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.566502480999997
Centerline is valid?  [True, True]
Translation: X:21.80, Y:3.09, Z:0.71
[[ 9.99029465e-01 -3.07239049e-02 -3.15621701e-02  2.18032718e+01]
 [ 3.06225606e-02  9.99524210e-01 -3.68942944e-03  3.09171134e+00]
 [ 3.16605068e-02  2.71933425e-03  9.99494981e-01  7.09330210e-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 21.626502481
Centerline is valid?  [True, True]
Translation: X:21.86, Y:3.09, Z:0.71
[[ 9.99116690e-01 -2.77424866e-02 -3.15625363e-02  2.18646330e+01]
 [ 2.76397647e-02  9.99611152e-01 -3.68629412e-03  3.09018187e+00]
 [ 3.16525302e-02  2.81065690e-03  9.99494981e-01  7.11260552e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.686502480999998
Centerline is valid?  [True, True]
Translation: X:21.92, Y:3.09, Z:0.71
[[ 9.99170424e-01 -2.57345541e-02 -3.15625751e-02  2.19248647e+01]
 [ 2.56308491e-02  9.99664680e-01 -3.68596153e-03  3.09254988e+00]
 [ 3.16468482e-02  2.87392815e-03  9.99494981e-01  7.13171135e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.746502480999997
Centerline is valid?  [True, True]
Translation: X:21.99, Y:3.09, Z:0.72
[[ 9.99188439e-01 -2.50252373e-02 -3.15626532e-02  2.19869607e+01]
 [ 2.49212024e-02  9.99682626e-01 -3.68529329e-03  3.09260693e+00]
 [ 3.16448613e-02  2.89572318e-03  9.99494981e-01  7.15131895e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.806502481
Centerline is valid?  [True, True]
Translation: X:22.05, Y:3.09, Z:0.72
[[ 9.99232226e-01 -2.32108286e-02 -3.15628843e-02  2.20478952e+01]
 [ 2.31059585e-02  9.99726236e-01 -3.68331219e-03  3.08962587e+00]
 [ 3.16397363e-02  2.95119355e-03  9.99494981e-01  7.17044111e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.866502480999998
Centerline is valid?  [True, True]
Translation: X:22.11, Y:3.09, Z:0.72
[[ 9.99325031e-01 -1.87953826e-02 -3.15628843e-02  2.21090779e+01]
 [ 1.86883307e-02  9.99818573e-01 -3.68331219e-03  3.09216167e+00]
 [ 3.16263873e-02  3.09096845e-03  9.99494981e-01  7.18985535e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.926502480999996
Centerline is valid?  [True, True]
Translation: X:22.17, Y:3.09, Z:0.72
[[ 9.99261398e-01 -2.19189030e-02 -3.15629650e-02  2.21698016e+01]
 [ 2.18134160e-02  9.99755277e-01 -3.68262125e-03  3.08733279e+00]
 [ 3.16359598e-02  2.99140518e-03  9.99494981e-01  7.20884978e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.986502481
Centerline is valid?  [True, True]
Translation: X:22.23, Y:3.09, Z:0.72
[[ 9.99053638e-01 -2.99267069e-02 -3.15629650e-02  2.22303080e+01]
 [ 2.98251814e-02  9.99548346e-01 -3.68262125e-03  3.08749901e+00]
 [ 3.16589182e-02  2.73776500e-03  9.99494981e-01  7.22796317e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.046502480999997
Centerline is valid?  [True, True]
Translation: X:22.29, Y:3.09, Z:0.72
[[ 9.99025266e-01 -3.08593075e-02 -3.15629755e-02  2.22923984e+01]
 [ 3.07582467e-02  9.99520069e-01 -3.68253063e-03  3.09068674e+00]
 [ 3.16614678e-02  2.70811935e-03  9.99494981e-01  7.24768765e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.106502481
Centerline is valid?  [True, True]
Translation: X:22.35, Y:3.09, Z:0.73
[[ 9.98900681e-01 -3.46581628e-02 -3.15633047e-02  2.23528636e+01]
 [ 3.45590729e-02  9.99395883e-01 -3.67970718e-03  3.09248400e+00]
 [ 3.16717687e-02  2.58486346e-03  9.99494981e-01  7.26683453e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.166502481
Centerline is valid?  [True, True]
Translation: X:22.41, Y:3.10, Z:0.73
[[ 9.98859159e-01 -3.58348660e-02 -3.15633047e-02  2.24145941e+01]
 [ 3.57363596e-02  9.99354478e-01 -3.67970718e-03  3.09600937e+00]
 [ 3.16747917e-02  2.54755162e-03  9.99494981e-01  7.28645836e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.226502480999997
Centerline is valid?  [True, True]
Translation: X:22.48, Y:3.10, Z:0.73
[[ 9.98831766e-01 -3.65901588e-02 -3.15636477e-02  2.24750787e+01]
 [ 3.64921194e-02  9.99327177e-01 -3.67676306e-03  3.09928200e+00]
 [ 3.16769442e-02  2.52064334e-03  9.99494981e-01  7.30566545e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.286502481
Centerline is valid?  [True, True]
Translation: X:22.54, Y:3.10, Z:0.73
[[ 9.98840612e-01 -3.63478854e-02 -3.15636477e-02  2.25360583e+01]
 [ 3.62497258e-02  9.99335999e-01 -3.67676306e-03  3.10211065e+00]
 [ 3.16763319e-02  2.52832669e-03  9.99494981e-01  7.32502665e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.346502480999998
Centerline is valid?  [True, True]
Translation: X:22.60, Y:3.11, Z:0.73
[[ 9.98879465e-01 -3.52634985e-02 -3.15642281e-02  2.25984305e+01]
 [ 3.51649578e-02  9.99374776e-01 -3.67177322e-03  3.10516194e+00]
 [ 3.16739730e-02  2.55770412e-03  9.99494981e-01  7.34481250e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.406502480999997
Centerline is valid?  [True, True]
Translation: X:22.66, Y:3.11, Z:0.74
[[ 9.98898103e-01 -3.47312425e-02 -3.15645609e-02  2.26595256e+01]
 [ 3.46325277e-02  9.99393380e-01 -3.66891055e-03  3.10530347e+00]
 [ 3.16728390e-02  2.57170726e-03  9.99494981e-01  7.36409851e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.466502481
Centerline is valid?  [True, True]
Translation: X:22.72, Y:3.11, Z:0.74
[[ 9.98768882e-01 -3.82673249e-02 -3.15647252e-02  2.27200766e+01]
 [ 3.81704086e-02  9.99264514e-01 -3.66749648e-03  3.10844212e+00]
 [ 3.16818550e-02  2.45814290e-03  9.99494981e-01  7.38332958e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.526502480999998
Centerline is valid?  [True, True]
Translation: X:22.78, Y:3.11, Z:0.74
[[ 9.98507468e-01 -4.45702154e-02 -3.15647252e-02  2.27804983e+01]
 [ 4.44764291e-02  9.99003702e-01 -3.66749648e-03  3.11192261e+00]
 [ 3.16967384e-02  2.25813636e-03  9.99494981e-01  7.40253888e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.586502480999997
Centerline is valid?  [True, True]
Translation: X:22.84, Y:3.11, Z:0.74
[[ 9.98335786e-01 -4.82631085e-02 -3.15647177e-02  2.28418808e+01]
 [ 4.81711563e-02  9.98832363e-01 -3.66756100e-03  3.11249269e+00]
 [ 3.17048694e-02  2.14094844e-03  9.99494981e-01  7.42194510e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.646502481
Centerline is valid?  [True, True]
Translation: X:22.90, Y:3.11, Z:0.74
[[ 9.98377677e-01 -4.73885817e-02 -3.15648021e-02  2.29036262e+01]
 [ 4.72962174e-02  9.98874177e-01 -3.66683377e-03  3.11477587e+00]
 [ 3.17030318e-02  2.16798924e-03  9.99494981e-01  7.44152527e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.706502480999998
Centerline is valid?  [True, True]
Translation: X:22.97, Y:3.12, Z:0.75
[[ 9.98452468e-01 -4.57849865e-02 -3.15658753e-02  2.29653178e+01]
 [ 4.56921162e-02  9.98948874e-01 -3.65757229e-03  3.11814707e+00]
 [ 3.17001575e-02  2.20960044e-03  9.99494981e-01  7.46109116e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.766502480999996
Centerline is valid?  [True, True]
Translation: X:23.03, Y:3.12, Z:0.75
[[ 9.98442339e-01 -4.60051144e-02 -3.15661986e-02  2.30277153e+01]
 [ 4.59124415e-02  9.98938782e-01 -3.65478012e-03  3.12356088e+00]
 [ 3.17008385e-02  2.19980597e-03  9.99494981e-01  7.48098342e-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 22.826502481
Centerline is valid?  [True, True]
Translation: X:23.09, Y:3.13, Z:0.75
[[ 9.98433303e-01 -4.62005995e-02 -3.15665159e-02  2.30891480e+01]
 [ 4.61081100e-02  9.98929780e-01 -3.65203744e-03  3.12719578e+00]
 [ 3.17014591e-02  2.19084342e-03  9.99494981e-01  7.50050625e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.886502480999997
Centerline is valid?  [True, True]
Translation: X:23.15, Y:3.13, Z:0.75
[[ 9.98334468e-01 -4.82890781e-02 -3.15666717e-02  2.31503151e+01]
 [ 4.81976699e-02  9.98831145e-01 -3.65069015e-03  3.13144171e+00]
 [ 3.17060633e-02  2.12316979e-03  9.99494981e-01  7.51997369e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.946502481
Centerline is valid?  [True, True]
Translation: X:23.21, Y:3.13, Z:0.75
[[ 9.98347840e-01 -4.80117583e-02 -3.15667897e-02  2.32113395e+01]
 [ 4.79202441e-02  9.98844497e-01 -3.64966904e-03  3.13254904e+00]
 [ 3.17055413e-02  2.13095093e-03  9.99494981e-01  7.53928289e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.006502481
Centerline is valid?  [True, True]
Translation: X:23.28, Y:3.13, Z:0.76
[[ 9.98338105e-01 -4.82135834e-02 -3.15670386e-02  2.32751444e+01]
 [ 4.81222375e-02  9.98834794e-01 -3.64751536e-03  3.13291985e+00]
 [ 3.17061163e-02  2.12237705e-03  9.99494981e-01  7.55943882e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.066502480999997
Centerline is valid?  [True, True]
Translation: X:23.34, Y:3.13, Z:0.76
[[ 9.98260801e-01 -4.97881987e-02 -3.15675298e-02  2.33369764e+01]
 [ 4.96977704e-02  9.98757657e-01 -3.64325914e-03  3.13201825e+00]
 [ 3.17097034e-02  2.06808693e-03  9.99494981e-01  7.57891694e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.126502481
Centerline is valid?  [True, True]
Translation: X:23.40, Y:3.13, Z:0.76
[[ 9.98116791e-01 -5.25961231e-02 -3.15676909e-02  2.33999669e+01]
 [ 5.25071368e-02  9.98613908e-01 -3.64186298e-03  3.13201877e+00]
 [ 3.17154830e-02  1.97747553e-03  9.99494981e-01  7.59880595e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.186502480999998
Centerline is valid?  [True, True]
Translation: X:23.46, Y:3.13, Z:0.76
[[ 9.98132499e-01 -5.22969189e-02 -3.15681224e-02  2.34608733e+01]
 [ 5.22079015e-02  9.98629611e-01 -3.63811829e-03  3.13146697e+00]
 [ 3.17151242e-02  1.98321867e-03  9.99494981e-01  7.61800756e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.246502480999997
Centerline is valid?  [True, True]
Translation: X:23.52, Y:3.14, Z:0.76
[[ 9.98131849e-01 -5.23093314e-02 -3.15681224e-02  2.35223398e+01]
 [ 5.22203201e-02  9.98628961e-01 -3.63811829e-03  3.13571494e+00]
 [ 3.17151489e-02  1.98282427e-03  9.99494981e-01  7.63757580e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.306502481
Centerline is valid?  [True, True]
Translation: X:23.59, Y:3.14, Z:0.77
[[ 9.98195702e-01 -5.10761913e-02 -3.15683747e-02  2.35852462e+01]
 [ 5.09866350e-02  9.98692717e-01 -3.63592797e-03  3.13669680e+00]
 [ 3.17128153e-02  2.01980247e-03  9.99494981e-01  7.65747151e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.366502480999998
Centerline is valid?  [True, True]
Translation: X:23.65, Y:3.14, Z:0.77
[[ 9.98500265e-01 -4.47284775e-02 -3.15687187e-02  2.36455952e+01]
 [ 4.46358569e-02  9.98996718e-01 -3.63293915e-03  3.14332889e+00]
 [ 3.16995422e-02  2.21839389e-03  9.99494981e-01  7.67676210e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.426502480999996
Centerline is valid?  [True, True]
Translation: X:23.70, Y:3.15, Z:0.77
[[ 9.98234606e-01 -5.03098732e-02 -3.15687803e-02  2.37045830e+01]
 [ 5.02200463e-02  9.98731572e-01 -3.63240395e-03  3.14923046e+00]
 [ 3.17114833e-02  2.04060572e-03  9.99494981e-01  7.69560566e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.486502481
Centerline is valid?  [True, True]
Translation: X:23.77, Y:3.16, Z:0.77
[[ 9.97638429e-01 -6.09998492e-02 -3.15687039e-02  2.37650433e+01]
 [ 6.09153300e-02  9.98136325e-01 -3.63306703e-03  3.15698053e+00]
 [ 3.17314867e-02  1.70146927e-03  9.99494981e-01  7.71498608e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.546502480999997
Centerline is valid?  [True, True]
Translation: X:23.83, Y:3.17, Z:0.77
[[ 9.97471045e-01 -6.36783394e-02 -3.15687199e-02  2.38256837e+01]
 [ 6.35951617e-02  9.97969166e-01 -3.63292867e-03  3.16677689e+00]
 [ 3.17359479e-02  1.61612331e-03  9.99494981e-01  7.73449472e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.606502480999996
Centerline is valid?  [True, True]
Translation: X:23.89, Y:3.18, Z:0.78
[[ 9.97218030e-01 -6.75248587e-02 -3.15688859e-02  2.38856241e+01]
 [ 6.74436483e-02  9.97716476e-01 -3.63148541e-03  3.17869679e+00]
 [ 3.17420131e-02  1.49226189e-03  9.99494981e-01  7.75385428e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.666502481
Centerline is valid?  [True, True]
Translation: X:23.95, Y:3.19, Z:0.78
[[ 9.97564893e-01 -6.21902242e-02 -3.15699322e-02  2.39456831e+01]
 [ 6.21066369e-02  9.98062946e-01 -3.62236661e-03  3.18732779e+00]
 [ 3.17340553e-02  1.65284345e-03  9.99494981e-01  7.77310145e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.726502480999997
Centerline is valid?  [True, True]
Translation: X:24.01, Y:3.20, Z:0.78
[[ 9.98052874e-01 -5.37937250e-02 -3.15704839e-02  2.40054952e+01]
 [ 5.37061013e-02  9.98550233e-01 -3.61755154e-03  3.20055046e+00]
 [ 3.17193157e-02  1.91498010e-03  9.99494981e-01  7.79245354e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.786502481
Centerline is valid?  [True, True]
Translation: X:24.07, Y:3.21, Z:0.78
[[ 9.98186248e-01 -5.12593157e-02 -3.15705022e-02  2.40654501e+01]
 [ 5.11704345e-02  9.98683384e-01 -3.61739238e-03  3.21432435e+00]
 [ 3.17143610e-02  1.99535502e-03  9.99494981e-01  7.81188904e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.846502480999998
Centerline is valid?  [True, True]
Translation: X:24.13, Y:3.22, Z:0.78
[[ 9.98430757e-01 -4.62521043e-02 -3.15716089e-02  2.41257854e+01]
 [ 4.61610355e-02  9.98927496e-01 -3.60770699e-03  3.21902122e+00]
 [ 3.17046123e-02  2.14466746e-03  9.99494981e-01  7.83107751e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.906502480999997
Centerline is valid?  [True, True]
Translation: X:24.19, Y:3.23, Z:0.79
[[ 9.98175764e-01 -5.14623436e-02 -3.15717005e-02  2.41855940e+01]
 [ 5.13738938e-02  9.98672976e-01 -3.60690503e-03  3.22817758e+00]
 [ 3.17154239e-02  1.97836400e-03  9.99494981e-01  7.85029684e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.966502481
Centerline is valid?  [True, True]
Translation: X:24.25, Y:3.24, Z:0.79
[[ 9.98151858e-01 -5.19239463e-02 -3.15717030e-02  2.42461057e+01]
 [ 5.18357272e-02  9.98649111e-01 -3.60688392e-03  3.24007062e+00]
 [ 3.17163368e-02  1.96367571e-03  9.99494981e-01  7.86984014e-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 24.026502480999998
Centerline is valid?  [True, True]
Translation: X:24.31, Y:3.25, Z:0.79
[[ 9.98287974e-01 -4.92375558e-02 -3.15718733e-02  2.43060315e+01]
 [ 4.91480458e-02  9.98784997e-01 -3.60539208e-03  3.24965195e+00]
 [ 3.17110341e-02  2.04752368e-03  9.99494981e-01  7.88910886e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.086502480999997
Centerline is valid?  [True, True]
Translation: X:24.37, Y:3.26, Z:0.79
[[ 9.98124359e-01 -5.24497872e-02 -3.15718885e-02  2.43653458e+01]
 [ 5.23618813e-02  9.98621668e-01 -3.60525927e-03  3.26274712e+00]
 [ 3.17174670e-02  1.94533362e-03  9.99494981e-01  7.90831677e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.146502481
Centerline is valid?  [True, True]
Translation: X:24.43, Y:3.27, Z:0.79
[[ 9.97954781e-01 -5.55830089e-02 -3.15718848e-02  2.44263112e+01]
 [ 5.54966636e-02  9.98452364e-01 -3.60529194e-03  3.27108849e+00]
 [ 3.17234159e-02  1.84578406e-03  9.99494981e-01  7.92787545e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.206502480999998
Centerline is valid?  [True, True]
Translation: X:24.49, Y:3.28, Z:0.79
[[ 9.97557415e-01 -6.23085311e-02 -3.15729390e-02  2.44859035e+01]
 [ 6.22258339e-02  9.98055617e-01 -3.59603579e-03  3.28035513e+00]
 [ 3.17356128e-02  1.62259971e-03  9.99494982e-01  7.94699416e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.266502480999996
Centerline is valid?  [True, True]
Translation: X:24.55, Y:3.29, Z:0.80
[[ 9.97190646e-01 -6.79261800e-02 -3.15729390e-02  2.45453193e+01]
 [ 6.78462902e-02  9.97689305e-01 -3.59603579e-03  3.29199198e+00]
 [ 3.17442485e-02  1.44382647e-03  9.99494982e-01  7.96618163e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.326502481
Centerline is valid?  [True, True]
Translation: X:24.61, Y:3.30, Z:0.80
[[ 9.97333433e-01 -6.57964427e-02 -3.15729695e-02  2.46067684e+01]
 [ 6.57154966e-02  9.97831922e-01 -3.59576782e-03  3.30320429e+00]
 [ 3.17411056e-02  1.51134610e-03  9.99494982e-01  7.98599496e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.386502480999997
Centerline is valid?  [True, True]
Translation: X:24.67, Y:3.31, Z:0.80
[[ 9.97903224e-01 -5.65002771e-02 -3.15733073e-02  2.46661835e+01]
 [ 5.64147832e-02  9.98400954e-01 -3.59279960e-03  3.31370696e+00]
 [ 3.17258143e-02  1.80406502e-03  9.99494982e-01  8.00512834e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.446502480999996
Centerline is valid?  [True, True]
Translation: X:24.73, Y:3.32, Z:0.80
[[ 9.97858405e-01 -5.72863572e-02 -3.15733616e-02  2.47282871e+01]
 [ 5.72012704e-02  9.98356204e-01 -3.59232201e-03  3.31971177e+00]
 [ 3.17272525e-02  1.77859231e-03  9.99494982e-01  8.02496018e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.506502481
Centerline is valid?  [True, True]
Translation: X:24.79, Y:3.33, Z:0.80
[[ 9.97835330e-01 -5.76867034e-02 -3.15736933e-02  2.47893671e+01]
 [ 5.76019083e-02  9.98333179e-01 -3.58940450e-03  3.32938383e+00]
 [ 3.17281265e-02  1.76292964e-03  9.99494982e-01  8.04458970e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.566502480999997
Centerline is valid?  [True, True]
Translation: X:24.85, Y:3.34, Z:0.81
[[ 9.97638983e-01 -6.09880357e-02 -3.15740205e-02  2.48513062e+01]
 [ 6.09049793e-02  9.98137125e-01 -3.58652409e-03  3.33566166e+00]
 [ 3.17339371e-02  1.65504118e-03  9.99494982e-01  8.06436879e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.626502481
Centerline is valid?  [True, True]
Translation: X:24.91, Y:3.34, Z:0.81
[[ 9.97298621e-01 -6.63209639e-02 -3.15751453e-02  2.49119050e+01]
 [ 6.62408857e-02  9.97797250e-01 -3.57659345e-03  3.34321036e+00]
 [ 3.17427963e-02  1.47536612e-03  9.99494982e-01  8.08373897e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.686502480999998
Centerline is valid?  [True, True]
Translation: X:24.97, Y:3.35, Z:0.81
[[ 9.97659273e-01 -6.06546052e-02 -3.15752255e-02  2.49730037e+01]
 [ 6.05717181e-02  9.98157442e-01 -3.57588590e-03  3.34859252e+00]
 [ 3.17339403e-02  1.65495007e-03  9.99494982e-01  8.10323020e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.746502480999997
Centerline is valid?  [True, True]
Translation: X:25.03, Y:3.36, Z:0.81
[[ 9.98013462e-01 -5.45167006e-02 -3.15762456e-02  2.50334118e+01]
 [ 5.44310355e-02  9.98511162e-01 -3.56685484e-03  3.35795102e+00]
 [ 3.17236869e-02  1.84104140e-03  9.99494982e-01  8.12260869e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.806502481
Centerline is valid?  [True, True]
Translation: X:25.09, Y:3.36, Z:0.81
[[ 9.98474046e-01 -4.53046425e-02 -3.15763822e-02  2.50937388e+01]
 [ 4.52144263e-02  9.98970941e-01 -3.56564562e-03  3.36445056e+00]
 [ 3.17054285e-02  2.13249661e-03  9.99494982e-01  8.14189392e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.866502480999998
Centerline is valid?  [True, True]
Translation: X:25.16, Y:3.37, Z:0.82
[[ 9.98408183e-01 -4.67335120e-02 -3.15765486e-02  2.51555813e+01]
 [ 4.66440534e-02  9.98905215e-01 -3.56417116e-03  3.36730232e+00]
 [ 3.17085453e-02  2.08563943e-03  9.99494982e-01  8.16152669e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.926502480999996
Centerline is valid?  [True, True]
Translation: X:25.22, Y:3.37, Z:0.82
[[ 9.98096782e-01 -5.29689906e-02 -3.15768800e-02  2.52159044e+01]
 [ 5.28827310e-02  9.98594379e-01 -3.56123304e-03  3.37090216e+00]
 [ 3.17211298e-02  1.88458359e-03  9.99494982e-01  8.18069985e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.986502481
Centerline is valid?  [True, True]
Translation: X:25.28, Y:3.37, Z:0.82
[[ 9.98105867e-01 -5.27975281e-02 -3.15768723e-02  2.52781027e+01]
 [ 5.27111809e-02  9.98603449e-01 -3.56130056e-03  3.37465966e+00]
 [ 3.17208015e-02  1.89010075e-03  9.99494982e-01  8.20048422e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.046502480999997
Centerline is valid?  [True, True]
Translation: X:25.34, Y:3.39, Z:0.82
[[ 9.97903777e-01 -5.64883284e-02 -3.15772100e-02  2.53378449e+01]
 [ 5.64039165e-02  9.98401691e-01 -3.55830386e-03  3.38940485e+00]
 [ 3.17277425e-02  1.76976655e-03  9.99494982e-01  8.21987068e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.106502480999996
Centerline is valid?  [True, True]
Translation: X:25.40, Y:3.39, Z:0.82
[[ 9.98643142e-01 -4.14095812e-02 -3.15772315e-02  2.53985815e+01]
 [ 4.13176644e-02  9.99139725e-01 -3.55811364e-03  3.38635622e+00]
 [ 3.16974064e-02  2.24858834e-03  9.99494982e-01  8.23894993e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.166502481
Centerline is valid?  [True, True]
Translation: X:25.46, Y:3.39, Z:0.83
[[ 9.98900680e-01 -3.46454461e-02 -3.15772795e-02  2.54591063e+01]
 [ 3.45501818e-02  9.99396632e-01 -3.55768763e-03  3.39324570e+00]
 [ 3.16814844e-02  2.46277584e-03  9.99494982e-01  8.25831506e-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 25.226502480999997
Centerline is valid?  [True, True]
Translation: X:25.52, Y:3.40, Z:0.83
[[ 9.98899182e-01 -3.46885889e-02 -3.15772967e-02  2.55217951e+01]
 [ 3.45933507e-02  9.99395139e-01 -3.55753465e-03  3.39648555e+00]
 [ 3.16816027e-02  2.46125395e-03  9.99494982e-01  8.27823516e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.286502480999996
Centerline is valid?  [True, True]
Translation: X:25.58, Y:3.41, Z:0.83
[[ 9.98640702e-01 -4.14679750e-02 -3.15777671e-02  2.55814410e+01]
 [ 4.13762369e-02  9.99137318e-01 -3.55335437e-03  3.41145125e+00]
 [ 3.16978759e-02  2.24195513e-03  9.99494982e-01  8.29759374e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.346502480999998
Centerline is valid?  [True, True]
Translation: X:25.64, Y:3.40, Z:0.83
[[ 9.98339863e-01 -4.81700911e-02 -3.15778301e-02  2.56437693e+01]
 [ 4.80817061e-02  9.98837087e-01 -3.55279449e-03  3.40016129e+00]
 [ 3.17122463e-02  2.02858042e-03  9.99494982e-01  8.31688186e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.406502480999997
Centerline is valid?  [True, True]
Translation: X:25.70, Y:3.41, Z:0.83
[[ 9.98319922e-01 -4.85815619e-02 -3.15779266e-02  2.57045348e+01]
 [ 4.84934089e-02  9.98817187e-01 -3.55193623e-03  3.40604047e+00]
 [ 3.17131345e-02  2.01464739e-03  9.99494982e-01  8.33628539e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.466502481
Centerline is valid?  [True, True]
Translation: X:25.77, Y:3.40, Z:0.84
[[ 9.98449801e-01 -4.58347534e-02 -3.15780091e-02  2.57662895e+01]
 [ 4.57452558e-02  9.98946826e-01 -3.55120314e-03  3.40328352e+00]
 [ 3.17075204e-02  2.10115397e-03  9.99494982e-01  8.35569515e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.526502480999998
Centerline is valid?  [True, True]
Translation: X:25.83, Y:3.41, Z:0.84
[[ 9.98365005e-01 -4.76460264e-02 -3.15780414e-02  2.58268259e+01]
 [ 4.75574396e-02  9.98862193e-01 -3.55091577e-03  3.40754077e+00]
 [ 3.17112987e-02  2.04333924e-03  9.99494982e-01  8.37497111e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.586502480999997
Centerline is valid?  [True, True]
Translation: X:25.89, Y:3.41, Z:0.84
[[ 9.98276173e-01 -4.94722571e-02 -3.15781222e-02  2.58879576e+01]
 [ 4.93846026e-02  9.98773526e-01 -3.55019670e-03  3.41025246e+00]
 [ 3.17150287e-02  1.98460376e-03  9.99494982e-01  8.39437852e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.646502481
Centerline is valid?  [True, True]
Translation: X:25.95, Y:3.41, Z:0.84
[[ 9.98329419e-01 -4.83857759e-02 -3.15782901e-02  2.59475897e+01]
 [ 4.82976272e-02  9.98826685e-01 -3.54870245e-03  3.41138037e+00]
 [ 3.17129456e-02  2.01761756e-03  9.99494982e-01  8.41325290e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.706502480999998
Centerline is valid?  [True, True]
Translation: X:26.01, Y:3.41, Z:0.84
[[ 9.98258064e-01 -4.98361255e-02 -3.15784376e-02  2.60087294e+01]
 [ 4.97487408e-02  9.98755465e-01 -3.54738960e-03  3.41004006e+00]
 [ 3.17159253e-02  1.97022277e-03  9.99494982e-01  8.43251688e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.766502480999996
Centerline is valid?  [True, True]
Translation: X:26.07, Y:3.41, Z:0.85
[[ 9.98022301e-01 -5.43533247e-02 -3.15785179e-02  2.60691088e+01]
 [ 5.42682145e-02  9.98520096e-01 -3.54667502e-03  3.41306711e+00]
 [ 3.17245583e-02  1.82595099e-03  9.99494982e-01  8.45169808e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.826502481
Centerline is valid?  [True, True]
Translation: X:26.13, Y:3.43, Z:0.85
[[ 9.97677165e-01 -6.03578655e-02 -3.15785179e-02  2.61292480e+01]
 [ 6.02757522e-02  9.98175463e-01 -3.54667502e-03  3.43116278e+00]
 [ 3.17349714e-02  1.63501776e-03  9.99494982e-01  8.47134086e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.886502480999997
Centerline is valid?  [True, True]
Translation: X:26.19, Y:3.44, Z:0.85
[[ 9.97864264e-01 -5.71811508e-02 -3.15788810e-02  2.61907335e+01]
 [ 5.70975536e-02  9.98362316e-01 -3.54343901e-03  3.43633331e+00]
 [ 3.17297827e-02  1.73279432e-03  9.99494982e-01  8.49093771e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.946502480999996
Centerline is valid?  [True, True]
Translation: X:26.25, Y:3.43, Z:0.85
[[ 9.98096889e-01 -5.29651448e-02 -3.15799507e-02  2.62544181e+01]
 [ 5.28797457e-02  9.98594635e-01 -3.53387940e-03  3.42954347e+00]
 [ 3.17227418e-02  1.85721427e-03  9.99494982e-01  8.51078189e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.006502481
Centerline is valid?  [True, True]
Translation: X:26.31, Y:3.45, Z:0.85
[[ 9.98045646e-01 -5.39219301e-02 -3.15802766e-02  2.63144678e+01]
 [ 5.38371001e-02  9.98543489e-01 -3.53096485e-03  3.45069641e+00]
 [ 3.17246760e-02  1.82387358e-03  9.99494982e-01  8.53049160e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.066502480999997
Centerline is valid?  [True, True]
Translation: X:26.37, Y:3.46, Z:0.85
[[ 9.98051075e-01 -5.38211628e-02 -3.15805992e-02  2.63747496e+01]
 [ 5.37363735e-02  9.98548925e-01 -3.52807767e-03  3.46029085e+00]
 [ 3.17246586e-02  1.82417484e-03  9.99494982e-01  8.54986593e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.126502480999996
Centerline is valid?  [True, True]
Translation: X:26.44, Y:3.46, Z:0.86
[[ 9.98217939e-01 -5.06320677e-02 -3.15806844e-02  2.64376876e+01]
 [ 5.05457124e-02  9.98715520e-01 -3.52731484e-03  3.45726658e+00]
 [ 3.17187148e-02  1.92476076e-03  9.99494982e-01  8.56964248e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.186502480999998
Centerline is valid?  [True, True]
Translation: X:26.50, Y:3.46, Z:0.86
[[ 9.98086129e-01 -5.31663503e-02 -3.15819344e-02  2.64992065e+01]
 [ 5.30816126e-02  9.98583987e-01 -3.51608638e-03  3.46391920e+00]
 [ 3.17241515e-02  1.83293704e-03  9.99494982e-01  8.58927188e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.246502480999997
Centerline is valid?  [True, True]
Translation: X:26.56, Y:3.47, Z:0.86
[[ 9.97950357e-01 -5.56565010e-02 -3.15822654e-02  2.65584691e+01]
 [ 5.55730997e-02  9.98448441e-01 -3.51311077e-03  3.47497705e+00]
 [ 3.17287911e-02  1.75078576e-03  9.99494982e-01  8.60837498e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.306502481
Centerline is valid?  [True, True]
Translation: X:26.62, Y:3.48, Z:0.86
[[ 9.97502104e-01 -6.31831661e-02 -3.15822629e-02  2.66191904e+01]
 [ 6.31035238e-02  9.98000803e-01 -3.51313364e-03  3.47935118e+00]
 [ 3.17410947e-02  1.51140612e-03  9.99494982e-01  8.62771569e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.366502480999998
Centerline is valid?  [True, True]
Translation: X:26.68, Y:3.49, Z:0.86
[[ 9.97646517e-01 -6.08603546e-02 -3.15823430e-02  2.66796472e+01]
 [ 6.07795741e-02  9.98145033e-01 -3.51241361e-03  3.49017305e+00]
 [ 3.17375255e-02  1.58458585e-03  9.99494982e-01  8.64719652e-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 26.426502480999996
Centerline is valid?  [True, True]
Translation: X:26.74, Y:3.50, Z:0.87
[[ 9.97990089e-01 -5.49393031e-02 -3.15825009e-02  2.67405584e+01]
 [ 5.48556107e-02  9.98488125e-01 -3.51099336e-03  3.49977450e+00]
 [ 3.17276436e-02  1.77145920e-03  9.99494982e-01  8.66677524e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.486502481
Centerline is valid?  [True, True]
Translation: X:26.80, Y:3.51, Z:0.87
[[ 9.98512803e-01 -4.44374960e-02 -3.15830864e-02  2.68006539e+01]
 [ 4.43487351e-02  9.99009960e-01 -3.50571796e-03  3.50780619e+00]
 [ 3.17076032e-02  2.09983433e-03  9.99494982e-01  8.68602570e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.546502480999997
Centerline is valid?  [True, True]
Translation: X:26.86, Y:3.53, Z:0.87
[[ 9.98374653e-01 -4.74400884e-02 -3.15830812e-02  2.68600473e+01]
 [ 4.73528214e-02  9.98872074e-01 -3.50576536e-03  3.52610283e+00]
 [ 3.17137716e-02  2.00451927e-03  9.99494982e-01  8.70543539e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.606502480999996
Centerline is valid?  [True, True]
Translation: X:26.92, Y:3.52, Z:0.87
[[ 9.98172993e-01 -5.15090280e-02 -3.15831609e-02  2.69209411e+01]
 [ 5.14238118e-02  9.98670770e-01 -3.50504704e-03  3.52000359e+00]
 [ 3.17217212e-02  1.87451678e-03  9.99494982e-01  8.72446049e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.666502481
Centerline is valid?  [True, True]
Translation: X:26.98, Y:3.53, Z:0.87
[[ 9.98176879e-01 -5.14337167e-02 -3.15830880e-02  2.69827041e+01]
 [ 5.13484423e-02  9.98674645e-01 -3.50570379e-03  3.52584450e+00]
 [ 3.17215406e-02  1.87757009e-03  9.99494982e-01  8.74418446e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.726502480999997
Centerline is valid?  [True, True]
Translation: X:27.04, Y:3.55, Z:0.88
[[ 9.98390052e-01 -4.71146754e-02 -3.15833974e-02  2.70413861e+01]
 [ 4.70273361e-02  9.98887461e-01 -3.50291374e-03  3.54782807e+00]
 [ 3.17132983e-02  2.01199118e-03  9.99494982e-01  8.76348706e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.786502480999996
Centerline is valid?  [True, True]
Translation: X:27.10, Y:3.56, Z:0.88
[[ 9.98677160e-01 -4.05760234e-02 -3.15834744e-02  2.71013454e+01]
 [ 4.04854507e-02  9.99173990e-01 -3.50221958e-03  3.55969384e+00]
 [ 3.16994923e-02  2.21891551e-03  9.99494982e-01  8.78284680e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.846502480999998
Centerline is valid?  [True, True]
Translation: X:27.16, Y:3.57, Z:0.88
[[ 9.98825255e-01 -3.67504104e-02 -3.15834987e-02  2.71600910e+01]
 [ 3.66579422e-02  9.99321736e-01 -3.50200043e-03  3.56908320e+00]
 [ 3.16907767e-02  2.34010041e-03  9.99494982e-01  8.80173814e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.906502480999997
Centerline is valid?  [True, True]
Translation: X:27.22, Y:3.56, Z:0.88
[[ 9.98627659e-01 -4.17765034e-02 -3.15835903e-02  2.72224775e+01]
 [ 4.16865609e-02  9.99124603e-01 -3.50117427e-03  3.56151102e+00]
 [ 3.17022089e-02  2.17975820e-03  9.99494982e-01  8.82118331e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.966502480999996
Centerline is valid?  [True, True]
Translation: X:27.28, Y:3.57, Z:0.88
[[ 9.98579510e-01 -4.29119428e-02 -3.15836679e-02  2.72836626e+01]
 [ 4.28225875e-02  9.99076560e-01 -3.50047372e-03  3.57150677e+00]
 [ 3.17047144e-02  2.14300695e-03  9.99494982e-01  8.84086481e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.026502480999998
Centerline is valid?  [True, True]
Translation: X:27.35, Y:3.58, Z:0.89
[[ 9.98539218e-01 -4.38392565e-02 -3.15840001e-02  2.73455361e+01]
 [ 4.37504572e-02  9.99036368e-01 -3.49747385e-03  3.57681841e+00]
 [ 3.17068914e-02  2.11055035e-03  9.99494982e-01  8.86059049e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.086502480999997
Centerline is valid?  [True, True]
Translation: X:27.41, Y:3.58, Z:0.89
[[ 9.98643665e-01 -4.13915516e-02 -3.15843330e-02  2.74077893e+01]
 [ 4.13016288e-02  9.99140613e-01 -3.49446558e-03  3.57884342e+00]
 [ 3.17018311e-02  2.18524152e-03  9.99494982e-01  8.88032128e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.146502481
Centerline is valid?  [True, True]
Translation: X:27.47, Y:3.58, Z:0.89
[[ 9.98711248e-01 -3.97272362e-02 -3.15846573e-02  2.74700224e+01]
 [ 3.96365776e-02  9.99208062e-01 -3.49153199e-03  3.58312527e+00]
 [ 3.16983531e-02  2.23512455e-03  9.99494982e-01  8.90012515e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.206502480999998
Centerline is valid?  [True, True]
Translation: X:27.53, Y:3.59, Z:0.89
[[ 9.98762720e-01 -3.84111712e-02 -3.15849774e-02  2.75298796e+01]
 [ 3.83199492e-02  9.99259431e-01 -3.48863389e-03  3.59431952e+00]
 [ 3.16955890e-02  2.27398274e-03  9.99494982e-01  8.91941979e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.266502480999996
Centerline is valid?  [True, True]
Translation: X:27.59, Y:3.58, Z:0.89
[[ 9.98365625e-01 -4.76282807e-02 -3.15852126e-02  2.75918584e+01]
 [ 4.75417145e-02  9.98863169e-01 -3.48650262e-03  3.58433957e+00]
 [ 3.17153617e-02  1.97918921e-03  9.99494982e-01  8.93864910e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.326502481
Centerline is valid?  [True, True]
Translation: X:27.65, Y:3.59, Z:0.90
[[ 9.98426183e-01 -4.63414512e-02 -3.15852362e-02  2.76541849e+01]
 [ 4.62542505e-02  9.98923616e-01 -3.48628883e-03  3.58822963e+00]
 [ 3.17127981e-02  2.01985062e-03  9.99494982e-01  8.95847990e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.386502480999997
Centerline is valid?  [True, True]
Translation: X:27.72, Y:3.60, Z:0.90
[[ 9.98317685e-01 -4.86225478e-02 -3.15855723e-02  2.77160695e+01]
 [ 4.85365798e-02  9.98815332e-01 -3.48324120e-03  3.59620019e+00]
 [ 3.17175180e-02  1.94432564e-03  9.99494982e-01  8.97830248e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.446502480999996
Centerline is valid?  [True, True]
Translation: X:27.78, Y:3.61, Z:0.90
[[ 9.98288633e-01 -4.92151942e-02 -3.15859019e-02  2.77772136e+01]
 [ 4.91296160e-02  9.98786348e-01 -3.48024975e-03  3.61006788e+00]
 [ 3.17188488e-02  1.92249053e-03  9.99494982e-01  8.99809653e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.506502481
Centerline is valid?  [True, True]
Translation: X:27.84, Y:3.62, Z:0.90
[[ 9.98073041e-01 -5.34089421e-02 -3.15862276e-02  2.78372095e+01]
 [ 5.33255491e-02  9.98571126e-01 -3.47729135e-03  3.61648711e+00]
 [ 3.17268133e-02  1.78623783e-03  9.99494982e-01  9.01726830e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.566502480999997
Centerline is valid?  [True, True]
Translation: X:27.90, Y:3.62, Z:0.90
[[ 9.97633527e-01 -6.10709126e-02 -3.15862273e-02  2.78971266e+01]
 [ 6.09913465e-02  9.98132238e-01 -3.47729415e-03  3.62445618e+00]
 [ 3.17395933e-02  1.54257870e-03  9.99494982e-01  9.03648067e-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 27.626502480999996
Centerline is valid?  [True, True]
Translation: X:27.96, Y:3.64, Z:0.91
[[ 9.97218050e-01 -6.75164510e-02 -3.15862266e-02  2.79582615e+01]
 [ 6.74401090e-02  9.97717265e-01 -3.47730050e-03  3.63800386e+00]
 [ 3.17488986e-02  1.33744825e-03  9.99494982e-01  9.05627198e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.686502480999998
Centerline is valid?  [True, True]
Translation: X:28.02, Y:3.65, Z:0.91
[[ 9.97262724e-01 -6.68531827e-02 -3.15865660e-02  2.80185544e+01]
 [ 6.67766063e-02  9.97761903e-01 -3.47421520e-03  3.64683820e+00]
 [ 3.17481345e-02  1.35546163e-03  9.99494982e-01  9.07562083e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.746502480999997
Centerline is valid?  [True, True]
Translation: X:28.08, Y:3.66, Z:0.91
[[ 9.97591876e-01 -6.17470325e-02 -3.15872316e-02  2.80796357e+01]
 [ 6.16680931e-02  9.98090686e-01 -3.46815245e-03  3.65646677e+00]
 [ 3.17410698e-02  1.51187636e-03  9.99494982e-01  9.09523419e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.806502480999995
Centerline is valid?  [True, True]
Translation: X:28.14, Y:3.67, Z:0.91
[[ 9.98231223e-01 -5.03651831e-02 -3.15875665e-02  2.81383088e+01]
 [ 5.02806560e-02  9.98729117e-01 -3.46509946e-03  3.67482598e+00]
 [ 3.17219428e-02  1.87072690e-03  9.99494982e-01  9.11440107e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.866502480999998
Centerline is valid?  [True, True]
Translation: X:28.20, Y:3.67, Z:0.91
[[ 9.98057886e-01 -5.36905988e-02 -3.15875929e-02  2.82012444e+01]
 [ 5.36077386e-02  9.98556060e-01 -3.46485903e-03  3.66886244e+00]
 [ 3.17280127e-02  1.76479046e-03  9.99494982e-01  9.13408322e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.926502480999996
Centerline is valid?  [True, True]
Translation: X:28.26, Y:3.68, Z:0.92
[[ 9.97951641e-01 -5.56302916e-02 -3.15878506e-02  2.82603823e+01]
 [ 5.55484740e-02  9.98449988e-01 -3.46250775e-03  3.67673421e+00]
 [ 3.17315094e-02  1.70075840e-03  9.99494982e-01  9.15303627e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.986502481
Centerline is valid?  [True, True]
Translation: X:28.32, Y:3.69, Z:0.92
[[ 9.97713954e-01 -5.97417493e-02 -3.15877956e-02  2.83205575e+01]
 [ 5.96619699e-02  9.98212631e-01 -3.46300988e-03  3.68700022e+00]
 [ 3.17382228e-02  1.57050317e-03  9.99494982e-01  9.17241163e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.046502480999997
Centerline is valid?  [True, True]
Translation: X:28.38, Y:3.69, Z:0.92
[[ 9.97357419e-01 -6.54246555e-02 -3.15878791e-02  2.83814256e+01]
 [ 6.53477424e-02  9.97856546e-01 -3.46224778e-03  3.69411322e+00]
 [ 3.17466883e-02  1.38890192e-03  9.99494982e-01  9.19189156e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.106502480999996
Centerline is valid?  [True, True]
Translation: X:28.44, Y:3.71, Z:0.92
[[ 9.97533122e-01 -6.26884297e-02 -3.15884824e-02  2.84426323e+01]
 [ 6.26103218e-02  9.98032063e-01 -3.45673447e-03  3.70755902e+00]
 [ 3.17430155e-02  1.47044207e-03  9.99494982e-01  9.21167802e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.166502481
Centerline is valid?  [True, True]
Translation: X:28.50, Y:3.72, Z:0.92
[[ 9.97786472e-01 -5.85175604e-02 -3.15888020e-02  2.85030047e+01]
 [ 5.84374596e-02  9.98285097e-01 -3.45381199e-03  3.71749412e+00]
 [ 3.17367389e-02  1.60019754e-03  9.99494982e-01  9.23108972e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.226502480999997
Centerline is valid?  [True, True]
Translation: X:28.56, Y:3.73, Z:0.93
[[ 9.98143124e-01 -5.20805799e-02 -3.15898161e-02  2.85626452e+01]
 [ 5.19975581e-02  9.98641272e-01 -3.44451143e-03  3.73348968e+00]
 [ 3.17262863e-02  1.79552210e-03  9.99494982e-01  9.25045172e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.286502480999996
Centerline is valid?  [True, True]
Translation: X:28.62, Y:3.75, Z:0.93
[[ 9.98478305e-01 -4.52012974e-02 -3.15898368e-02  2.86210511e+01]
 [ 4.51148509e-02  9.98975869e-01 -3.44432147e-03  3.74524169e+00]
 [ 3.17131725e-02  2.01390948e-03  9.99494982e-01  9.26931555e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.346502480999998
Centerline is valid?  [True, True]
Translation: X:28.68, Y:3.76, Z:0.93
[[ 9.98731982e-01 -3.91982732e-02 -3.15899271e-02  2.86808943e+01]
 [ 3.91088632e-02  9.99229022e-01 -3.44349301e-03  3.76077939e+00]
 [ 3.17005510e-02  2.20368046e-03  9.99494982e-01  9.28876122e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.406502480999997
Centerline is valid?  [True, True]
Translation: X:28.74, Y:3.77, Z:0.93
[[ 9.98432581e-01 -4.62001075e-02 -3.15900472e-02  2.87410131e+01]
 [ 4.61142196e-02  9.98930242e-01 -3.44239070e-03  3.76688650e+00]
 [ 3.17152924e-02  1.98024465e-03  9.99494982e-01  9.30796782e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.466502480999996
Centerline is valid?  [True, True]
Translation: X:28.80, Y:3.77, Z:0.93
[[ 9.98134495e-01 -5.22455600e-02 -3.15900399e-02  2.88022765e+01]
 [ 5.21626853e-02  9.98632667e-01 -3.44245788e-03  3.77428563e+00]
 [ 3.17266990e-02  1.78821465e-03  9.99494982e-01  9.32758585e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.526502480999998
Centerline is valid?  [True, True]
Translation: X:28.86, Y:3.78, Z:0.93
[[ 9.97479063e-01 -6.35418575e-02 -3.15903806e-02  2.88630437e+01]
 [ 6.34647266e-02  9.97978156e-01 -3.43932850e-03  3.77945649e+00]
 [ 3.17450511e-02  1.42578330e-03  9.99494982e-01  9.34695617e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.586502480999997
Centerline is valid?  [True, True]
Translation: X:28.92, Y:3.79, Z:0.94
[[ 9.97063159e-01 -6.97646078e-02 -3.15904556e-02  2.89226051e+01]
 [ 6.96906145e-02  9.97562727e-01 -3.43864008e-03  3.79484151e+00]
 [ 3.17533564e-02  1.22698308e-03  9.99494982e-01  9.36630766e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.646502480999995
Centerline is valid?  [True, True]
Translation: X:28.98, Y:3.80, Z:0.94
[[ 9.97224050e-01 -6.74257560e-02 -3.15905271e-02  2.89846919e+01]
 [ 6.73506119e-02  9.97723446e-01 -3.43798296e-03  3.80397712e+00]
 [ 3.17504181e-02  1.30079796e-03  9.99494982e-01  9.38624237e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.706502480999998
Centerline is valid?  [True, True]
Translation: X:29.05, Y:3.82, Z:0.94
[[ 9.97153159e-01 -6.84656354e-02 -3.15916777e-02  2.90453893e+01]
 [ 6.83913476e-02  9.97652683e-01 -3.42737695e-03  3.81638990e+00]
 [ 3.17521796e-02  1.25702235e-03  9.99494982e-01  9.40580482e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.766502480999996
Centerline is valid?  [True, True]
Translation: X:29.11, Y:3.83, Z:0.94
[[ 9.97454619e-01 -6.39236073e-02 -3.15920150e-02  2.91065377e+01]
 [ 6.38471436e-02  9.97953815e-01 -3.42426537e-03  3.83248576e+00]
 [ 3.17462633e-02  1.39848939e-03  9.99494982e-01  9.42566971e-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 28.826502481
Centerline is valid?  [True, True]
Translation: X:29.17, Y:3.84, Z:0.94
[[ 9.97886060e-01 -5.67915979e-02 -3.15931328e-02  2.91659887e+01]
 [ 5.67118943e-02  9.98384749e-01 -3.41392093e-03  3.84214597e+00]
 [ 3.17359840e-02  1.61499770e-03  9.99494982e-01  9.44474295e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.886502480999997
Centerline is valid?  [True, True]
Translation: X:29.23, Y:3.85, Z:0.95
[[ 9.98159299e-01 -5.17676157e-02 -3.15931706e-02  2.92264451e+01]
 [ 5.16854138e-02  9.98657582e-01 -3.41357105e-03  3.85328023e+00]
 [ 3.17274718e-02  1.77438159e-03  9.99494982e-01  9.46423129e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.946502480999996
Centerline is valid?  [True, True]
Translation: X:29.29, Y:3.86, Z:0.95
[[ 9.98566297e-01 -4.32112851e-02 -3.15932882e-02  2.92863778e+01]
 [ 4.31248501e-02  9.99063863e-01 -3.41248200e-03  3.85629020e+00]
 [ 3.17111703e-02  2.04513369e-03  9.99494982e-01  9.48327315e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.006502481
Centerline is valid?  [True, True]
Translation: X:29.35, Y:3.86, Z:0.95
[[ 9.98594444e-01 -4.25558812e-02 -3.15932373e-02  2.93465095e+01]
 [ 4.24691048e-02  9.99091951e-01 -3.41295301e-03  3.86473851e+00]
 [ 3.17097904e-02  2.06641940e-03  9.99494982e-01  9.50257101e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.066502480999997
Centerline is valid?  [True, True]
Translation: X:29.41, Y:3.87, Z:0.95
[[ 9.98570386e-01 -4.31166659e-02 -3.15933109e-02  2.94071886e+01]
 [ 4.30301904e-02  9.99067945e-01 -3.41227165e-03  3.87374062e+00]
 [ 3.17109900e-02  2.04792724e-03  9.99494982e-01  9.52205531e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.126502480999996
Centerline is valid?  [True, True]
Translation: X:29.47, Y:3.89, Z:0.95
[[ 9.98639053e-01 -4.14957295e-02 -3.15934666e-02  2.94663282e+01]
 [ 4.14084919e-02  9.99136479e-01 -3.41082979e-03  3.88641107e+00]
 [ 3.17077198e-02  2.09795003e-03  9.99494982e-01  9.54117448e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.186502480999998
Centerline is valid?  [True, True]
Translation: X:29.53, Y:3.90, Z:0.96
[[ 9.98403264e-01 -4.68270803e-02 -3.15934638e-02  2.95260169e+01]
 [ 4.67424990e-02  9.98901149e-01 -3.41085554e-03  3.89940207e+00]
 [ 3.17184677e-02  1.92865185e-03  9.99494982e-01  9.56048519e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.246502480999997
Centerline is valid?  [True, True]
Translation: X:29.58, Y:3.91, Z:0.96
[[ 9.98228959e-01 -5.04063275e-02 -3.15934629e-02  2.95847888e+01]
 [ 5.03235315e-02  9.98727144e-01 -3.41086411e-03  3.90786503e+00]
 [ 3.17251781e-02  1.81492870e-03  9.99494982e-01  9.57935150e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.306502480999995
Centerline is valid?  [True, True]
Translation: X:29.65, Y:3.92, Z:0.96
[[ 9.98448308e-01 -4.58566792e-02 -3.15933872e-02  2.96453815e+01]
 [ 4.57715917e-02  9.98946106e-01 -3.41156524e-03  3.91769345e+00]
 [ 3.17165342e-02  1.96019193e-03  9.99494982e-01  9.59884339e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.366502480999998
Centerline is valid?  [True, True]
Translation: X:29.71, Y:3.93, Z:0.96
[[ 9.98430348e-01 -4.62459525e-02 -3.15935440e-02  2.97072919e+01]
 [ 4.61611048e-02  9.98928187e-01 -3.41011206e-03  3.92624454e+00]
 [ 3.17173856e-02  1.94636647e-03  9.99494982e-01  9.61869748e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.426502480999996
Centerline is valid?  [True, True]
Translation: X:29.77, Y:3.94, Z:0.96
[[ 9.98304644e-01 -4.88842039e-02 -3.15938529e-02  2.97680378e+01]
 [ 4.88007625e-02  9.98802721e-01 -3.40724825e-03  3.93958142e+00]
 [ 3.17225869e-02  1.85966765e-03  9.99494982e-01  9.63833949e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.486502480999995
Centerline is valid?  [True, True]
Translation: X:29.83, Y:3.94, Z:0.97
[[ 9.98699344e-01 -4.00179220e-02 -3.15940811e-02  2.98279914e+01]
 [ 3.99301279e-02  9.99196672e-01 -3.40513046e-03  3.94456919e+00]
 [ 3.17049670e-02  2.13914585e-03  9.99494982e-01  9.65745005e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.546502480999997
Centerline is valid?  [True, True]
Translation: X:29.89, Y:3.96, Z:0.97
[[ 9.98678026e-01 -4.05464172e-02 -3.15941058e-02  2.98893443e+01]
 [ 4.04588935e-02  9.99175402e-01 -3.40490134e-03  3.95619674e+00]
 [ 3.17061099e-02  2.12213759e-03  9.99494982e-01  9.67723870e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.606502480999996
Centerline is valid?  [True, True]
Translation: X:29.95, Y:3.97, Z:0.97
[[ 9.98463600e-01 -4.55212514e-02 -3.15951899e-02  2.99492829e+01]
 [ 4.54365247e-02  9.98961459e-01 -3.39481149e-03  3.96547993e+00]
 [ 3.17169131e-02  1.95402007e-03  9.99494982e-01  9.69644981e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.666502481
Centerline is valid?  [True, True]
Translation: X:30.01, Y:3.98, Z:0.97
[[ 9.97854080e-01 -5.73495787e-02 -3.15952748e-02  3.00077175e+01]
 [ 5.72707825e-02  9.98352913e-01 -3.39402151e-03  3.97849309e+00]
 [ 3.17378803e-02  1.57725210e-03  9.99494982e-01  9.71535956e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.726502480999997
Centerline is valid?  [True, True]
Translation: X:30.07, Y:3.99, Z:0.97
[[ 9.97447015e-01 -6.40405712e-02 -3.15952195e-02  3.00681997e+01]
 [ 6.39651059e-02  9.97946362e-01 -3.39453619e-03  3.98704786e+00]
 [ 3.17477224e-02  1.36487843e-03  9.99494982e-01  9.73477192e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.786502480999996
Centerline is valid?  [True, True]
Translation: X:30.13, Y:4.00, Z:0.98
[[ 9.96945762e-01 -7.14204773e-02 -3.15952918e-02  3.01283077e+01]
 [ 7.13487308e-02  9.97445658e-01 -3.39386349e-03  3.99704252e+00]
 [ 3.17569779e-02  1.12921386e-03  9.99494982e-01  9.75410866e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.846502480999998
Centerline is valid?  [True, True]
Translation: X:30.19, Y:4.01, Z:0.98
[[ 9.96856656e-01 -7.26535688e-02 -3.15953403e-02  3.01899284e+01]
 [ 7.25824550e-02  9.97356642e-01 -3.39341201e-03  4.00676291e+00]
 [ 3.17583660e-02  1.08947798e-03  9.99494982e-01  9.77391541e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.906502480999997
Centerline is valid?  [True, True]
Translation: X:30.25, Y:4.02, Z:0.98
[[ 9.97151638e-01 -6.84856010e-02 -3.15964047e-02  3.02498356e+01]
 [ 6.84127122e-02  9.97651368e-01 -3.38347186e-03  4.01578180e+00]
 [ 3.17539155e-02  1.21223876e-03  9.99494982e-01  9.79310625e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.966502480999996
Centerline is valid?  [True, True]
Translation: X:30.31, Y:4.02, Z:0.98
[[ 9.97628924e-01 -6.11407809e-02 -3.15964460e-02  3.03117191e+01]
 [ 6.10642262e-02  9.98128106e-01 -3.38308643e-03  4.02485520e+00]
 [ 3.17441453e-02  1.44565235e-03  9.99494982e-01  9.81297419e-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 30.026502480999998
Centerline is valid?  [True, True]
Translation: X:30.37, Y:4.04, Z:0.98
[[ 9.97996124e-01 -5.48213635e-02 -3.15967460e-02  3.03709414e+01]
 [ 5.47417375e-02  9.98494825e-01 -3.38028208e-03  4.03680497e+00]
 [ 3.17344990e-02  1.64384764e-03  9.99494982e-01  9.83208513e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.086502480999997
Centerline is valid?  [True, True]
Translation: X:30.43, Y:4.04, Z:0.99
[[ 9.98147989e-01 -5.19830357e-02 -3.15967746e-02  3.04333115e+01]
 [ 5.19020002e-02  9.98646463e-01 -3.38001463e-03  4.04069560e+00]
 [ 3.17297106e-02  1.73381901e-03  9.99494982e-01  9.85193216e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.146502480999995
Centerline is valid?  [True, True]
Translation: X:30.49, Y:4.04, Z:0.99
[[ 9.98121178e-01 -5.24946438e-02 -3.15978727e-02  3.04946332e+01]
 [ 5.24141888e-02  9.98619746e-01 -3.36971772e-03  4.04430151e+00]
 [ 3.17311517e-02  1.70720975e-03  9.99494982e-01  9.87138457e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.206502480999998
Centerline is valid?  [True, True]
Translation: X:30.55, Y:4.06, Z:0.99
[[ 9.97828057e-01 -5.77990843e-02 -3.15980291e-02  3.05549206e+01]
 [ 5.77213269e-02  9.98327052e-01 -3.36825008e-03  4.05561418e+00]
 [ 3.17398491e-02  1.53705426e-03  9.99494982e-01  9.89081719e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.266502480999996
Centerline is valid?  [True, True]
Translation: X:30.62, Y:4.04, Z:0.99
[[ 9.98353349e-01 -4.78763941e-02 -3.15981272e-02  3.06171251e+01]
 [ 4.77937088e-02  9.98851552e-01 -3.36732979e-03  4.04464324e+00]
 [ 3.17230540e-02  1.85159328e-03  9.99494982e-01  9.91010803e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.326502480999995
Centerline is valid?  [True, True]
Translation: X:30.68, Y:4.06, Z:0.99
[[ 9.98374648e-01 -4.74301381e-02 -3.15981606e-02  3.06775632e+01]
 [ 4.73472400e-02  9.98872816e-01 -3.36701620e-03  4.05521477e+00]
 [ 3.17222417e-02  1.86545793e-03  9.99494982e-01  9.92956948e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.386502480999997
Centerline is valid?  [True, True]
Translation: X:30.74, Y:4.05, Z:0.99
[[ 9.98797887e-01 -3.74736416e-02 -3.15991770e-02  3.07389785e+01]
 [ 3.73860819e-02  9.99295256e-01 -3.35745077e-03  4.04921684e+00]
 [ 3.17027235e-02  2.17204531e-03  9.99494982e-01  9.94873423e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.446502480999996
Centerline is valid?  [True, True]
Translation: X:30.80, Y:4.05, Z:1.00
[[ 9.99068035e-01 -2.94032318e-02 -3.15992349e-02  3.08002991e+01]
 [ 2.93116739e-02  9.99564684e-01 -3.35690572e-03  4.04865341e+00]
 [ 3.16841831e-02  2.42755073e-03  9.99494982e-01  9.96809913e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.506502481
Centerline is valid?  [True, True]
Translation: X:30.86, Y:4.05, Z:1.00
[[ 9.99170833e-01 -2.56736019e-02 -3.15992462e-02  3.08607617e+01]
 [ 2.55801941e-02  9.99667137e-01 -3.35679948e-03  4.05487142e+00]
 [ 3.16749091e-02  2.54570128e-03  9.99494982e-01  9.98742283e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.566502480999997
Centerline is valid?  [True, True]
Translation: X:30.92, Y:4.05, Z:1.00
[[ 9.99271143e-01 -2.14163943e-02 -3.15993959e-02  3.09215381e+01]
 [ 2.13209171e-02  9.99767053e-01 -3.35538961e-03  4.05231713e+00]
 [ 3.16638952e-02  2.67921591e-03  9.99494982e-01  1.00065446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.626502480999996
Centerline is valid?  [True, True]
Translation: X:30.98, Y:4.06, Z:1.00
[[ 9.99240191e-01 -2.28146365e-02 -3.15995607e-02  3.09840040e+01]
 [ 2.27199020e-02  9.99736244e-01 -3.35383613e-03  4.05672093e+00]
 [ 3.16677427e-02  2.63334894e-03  9.99494982e-01  1.00264336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.686502480999998
Centerline is valid?  [True, True]
Translation: X:31.04, Y:4.06, Z:1.00
[[ 9.99039944e-01 -3.03419692e-02 -3.15999164e-02  3.10434244e+01]
 [ 3.02510800e-02  9.99536716e-01 -3.35048214e-03  4.06051166e+00]
 [ 3.16869368e-02  2.39133389e-03  9.99494982e-01  1.00453303e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.746502480999997
Centerline is valid?  [True, True]
Translation: X:31.10, Y:4.06, Z:1.01
[[ 9.98866529e-01 -3.55964458e-02 -3.15998397e-02  3.11045541e+01]
 [ 3.55081481e-02  9.99363768e-01 -3.35120482e-03  4.05550325e+00]
 [ 3.16990259e-02  2.22535454e-03  9.99494982e-01  1.00644926e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.806502480999995
Centerline is valid?  [True, True]
Translation: X:31.16, Y:4.06, Z:1.01
[[ 9.98589872e-01 -4.26581586e-02 -3.15998326e-02  3.11637366e+01]
 [ 4.25733768e-02  9.99087722e-01 -3.35127243e-03  4.05970387e+00]
 [ 3.17139638e-02  2.00123513e-03  9.99494982e-01  1.00833448e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.866502480999998
Centerline is valid?  [True, True]
Translation: X:31.23, Y:4.07, Z:1.01
[[ 9.98476520e-01 -4.52337804e-02 -3.15997512e-02  3.12251979e+01]
 [ 4.51502589e-02  9.98974583e-01 -3.35203978e-03  4.06825601e+00]
 [ 3.17189737e-02  1.92019607e-03  9.99494982e-01  1.01030667e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.926502480999996
Centerline is valid?  [True, True]
Translation: X:31.29, Y:4.07, Z:1.01
[[ 9.98602625e-01 -4.23584400e-02 -3.15999835e-02  3.12857927e+01]
 [ 4.22735537e-02  9.99100458e-01 -3.34984826e-03  4.07022762e+00]
 [ 3.17134523e-02  2.00932367e-03  9.99494982e-01  1.01222799e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.986502480999995
Centerline is valid?  [True, True]
Translation: X:31.35, Y:4.08, Z:1.01
[[ 9.98413172e-01 -4.66109239e-02 -3.16000049e-02  3.13454815e+01]
 [ 4.65281649e-02  9.98911362e-01 -3.34964585e-03  4.08217991e+00]
 [ 3.17217341e-02  1.87404030e-03  9.99494982e-01  1.01415507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.046502480999997
Centerline is valid?  [True, True]
Translation: X:31.41, Y:4.09, Z:1.02
[[ 9.98322506e-01 -4.85140653e-02 -3.15999976e-02  3.14075180e+01]
 [ 4.84322539e-02  9.98820853e-01 -3.34971480e-03  4.08983646e+00]
 [ 3.17252449e-02  1.81363656e-03  9.99494982e-01  1.01614211e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.106502480999996
Centerline is valid?  [True, True]
Translation: X:31.47, Y:4.10, Z:1.02
[[ 9.98323149e-01 -4.85006199e-02 -3.16003090e-02  3.14687789e+01]
 [ 4.84188946e-02  9.98821510e-01 -3.34677451e-03  4.09759849e+00]
 [ 3.17253890e-02  1.81111043e-03  9.99494982e-01  1.01810351e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.166502481
Centerline is valid?  [True, True]
Translation: X:31.53, Y:4.11, Z:1.02
[[ 9.98310436e-01 -4.87612432e-02 -3.16008583e-02  3.15300744e+01]
 [ 4.86798119e-02  9.98808845e-01 -3.34158045e-03  4.11097695e+00]
 [ 3.17261564e-02  1.79761081e-03  9.99494982e-01  1.02008369e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 31.226502480999997
Centerline is valid?  [True, True]
Translation: X:31.59, Y:4.12, Z:1.02
[[ 9.98509002e-01 -4.45099785e-02 -3.16011700e-02  3.15905769e+01]
 [ 4.44265187e-02  9.99007076e-01 -3.33862960e-03  4.11570995e+00]
 [ 3.17183948e-02  1.92972174e-03  9.99494982e-01  1.02201097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.286502480999996
Centerline is valid?  [True, True]
Translation: X:31.65, Y:4.13, Z:1.02
[[ 9.97922502e-01 -5.61429769e-02 -3.16013762e-02  3.16505720e+01]
 [ 5.60653887e-02  9.98421524e-01 -3.33667701e-03  4.12591776e+00]
 [ 3.17388251e-02  1.55800163e-03  9.99494982e-01  1.02394097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.346502480999998
Centerline is valid?  [True, True]
Translation: X:31.71, Y:4.13, Z:1.03
[[ 9.97518256e-01 -6.29180269e-02 -3.16014242e-02  3.17105910e+01]
 [ 6.28438435e-02  9.98017796e-01 -3.33622213e-03  4.13324432e+00]
 [ 3.17486922e-02  1.34198753e-03  9.99494982e-01  1.02586285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.406502480999997
Centerline is valid?  [True, True]
Translation: X:31.77, Y:4.14, Z:1.03
[[ 9.97918890e-01 -5.62070942e-02 -3.16014462e-02  3.17709039e+01]
 [ 5.61295590e-02  9.98417920e-01 -3.33601412e-03  4.13764031e+00]
 [ 3.17389578e-02  1.55529627e-03  9.99494982e-01  1.02778435e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.466502480999996
Centerline is valid?  [True, True]
Translation: X:31.83, Y:4.15, Z:1.03
[[ 9.97752015e-01 -5.90953711e-02 -3.16014694e-02  3.18320158e+01]
 [ 5.90192877e-02  9.98251269e-01 -3.33579432e-03  4.14904093e+00]
 [ 3.17433369e-02  1.46319930e-03  9.99494982e-01  1.02975450e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.526502480999998
Centerline is valid?  [True, True]
Translation: X:31.89, Y:4.15, Z:1.03
[[ 9.97930188e-01 -5.60055593e-02 -3.16024825e-02  3.18943349e+01]
 [ 5.59282344e-02  9.98429251e-01 -3.32616881e-03  4.15388319e+00]
 [ 3.17391268e-02  1.55181322e-03  9.99494982e-01  1.03173625e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.586502480999997
Centerline is valid?  [True, True]
Translation: X:31.96, Y:4.16, Z:1.03
[[ 9.98498947e-01 -4.47332667e-02 -3.16035925e-02  3.19552811e+01]
 [ 4.46506449e-02  9.98997161e-01 -3.31558793e-03  4.15651516e+00]
 [ 3.17202163e-02  1.89949027e-03  9.99494982e-01  1.03366681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.646502480999995
Centerline is valid?  [True, True]
Translation: X:32.01, Y:4.17, Z:1.04
[[ 9.98733252e-01 -3.91548410e-02 -3.16036462e-02  3.20138962e+01]
 [ 3.90694535e-02  9.99230998e-01 -3.31507608e-03  4.16845748e+00]
 [ 3.17091442e-02  2.07613953e-03  9.99494982e-01  1.03555955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.706502480999998
Centerline is valid?  [True, True]
Translation: X:32.07, Y:4.17, Z:1.04
[[ 9.98806118e-01 -3.72498632e-02 -3.16035962e-02  3.20747574e+01]
 [ 3.71635115e-02  9.99303698e-01 -3.31555240e-03  4.17153624e+00]
 [ 3.17050945e-02  2.13709341e-03  9.99494982e-01  1.03749441e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.766502480999996
Centerline is valid?  [True, True]
Translation: X:32.14, Y:4.17, Z:1.04
[[ 9.98615947e-01 -4.20403351e-02 -3.16038193e-02  3.21359025e+01]
 [ 4.19564382e-02  9.99113947e-01 -3.31342465e-03  4.17352861e+00]
 [ 3.17151141e-02  1.98285500e-03  9.99494982e-01  1.03943335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.826502480999995
Centerline is valid?  [True, True]
Translation: X:32.20, Y:4.18, Z:1.04
[[ 9.98533867e-01 -4.39466672e-02 -3.16039020e-02  3.21983412e+01]
 [ 4.38637461e-02  9.99032031e-01 -3.31263549e-03  4.17736336e+00]
 [ 3.17188897e-02  1.92151319e-03  9.99494982e-01  1.04141998e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.886502480999997
Centerline is valid?  [True, True]
Translation: X:32.26, Y:4.18, Z:1.04
[[ 9.98565458e-01 -4.32221400e-02 -3.16049393e-02  3.22595337e+01]
 [ 4.31391704e-02  9.99063614e-01 -3.30270969e-03  4.17970997e+00]
 [ 3.17180950e-02  1.93456095e-03  9.99494982e-01  1.04335784e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.946502480999996
Centerline is valid?  [True, True]
Translation: X:32.32, Y:4.18, Z:1.05
[[ 9.99025424e-01 -3.08110234e-02 -3.16050959e-02  3.23206250e+01]
 [ 3.07219175e-02  9.99522519e-01 -3.30121063e-03  4.17595152e+00]
 [ 3.16917187e-02  2.32702420e-03  9.99494982e-01  1.04527647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.006502481
Centerline is valid?  [True, True]
Translation: X:32.38, Y:4.18, Z:1.05
[[ 9.99215736e-01 -2.38543187e-02 -3.16051256e-02  3.23815198e+01]
 [ 2.37617627e-02  9.99712200e-01 -3.30092539e-03  4.17921123e+00]
 [ 3.16747710e-02  2.54734310e-03  9.99494982e-01  1.04721266e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.06650248099999
Centerline is valid?  [True, True]
Translation: X:32.44, Y:4.18, Z:1.05
[[ 9.99249020e-01 -2.24167401e-02 -3.16051496e-02  3.24443635e+01]
 [ 2.23234772e-02  9.99745351e-01 -3.30069608e-03  4.17705627e+00]
 [ 3.16710922e-02  2.59268049e-03  9.99494982e-01  1.04919263e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.126502480999996
Centerline is valid?  [True, True]
Translation: X:32.51, Y:4.18, Z:1.05
[[ 9.98978105e-01 -3.23085229e-02 -3.16054626e-02  3.25052575e+01]
 [ 3.22202728e-02  9.99475352e-01 -3.29769626e-03  4.17600258e+00]
 [ 3.16954245e-02  2.27598974e-03  9.99494982e-01  1.05111332e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.186502481
Centerline is valid?  [True, True]
Translation: X:32.56, Y:4.18, Z:1.05
[[ 9.98522229e-01 -4.42091801e-02 -3.16054872e-02  3.25648819e+01]
 [ 4.41268684e-02  9.99020493e-01 -3.29746034e-03  4.17501831e+00]
 [ 3.17203074e-02  1.89793627e-03  9.99494982e-01  1.05299537e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.24650248099999
Centerline is valid?  [True, True]
Translation: X:32.63, Y:4.17, Z:1.05
[[ 9.97893669e-01 -5.66508934e-02 -3.16054092e-02  3.26261144e+01]
 [ 5.65747747e-02  9.98392917e-01 -3.29820793e-03  4.17314748e+00]
 [ 3.17414631e-02  1.50319191e-03  9.99494982e-01  1.05492579e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.306502480999995
Centerline is valid?  [True, True]
Translation: X:32.69, Y:4.18, Z:1.06
[[ 9.96514508e-01 -7.72006023e-02 -3.16054131e-02  3.26867872e+01]
 [ 7.71347881e-02  9.97015219e-01 -3.29817019e-03  4.17932048e+00]
 [ 3.17656986e-02  8.48797603e-04  9.99494982e-01  1.05686470e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.366502481
Centerline is valid?  [True, True]
Translation: X:32.75, Y:4.18, Z:1.06
[[ 9.95782376e-01 -8.61310387e-02 -3.16054391e-02  3.27475879e+01]
 [ 8.60697238e-02  9.96283658e-01 -3.29792143e-03  4.18146501e+00]
 [ 3.17720359e-02  5.63740624e-04  9.99494982e-01  1.05879427e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 32.426502481
Centerline is valid?  [True, True]
Translation: X:32.81, Y:4.19, Z:1.06
[[ 9.95580951e-01 -8.84288192e-02 -3.16055957e-02  3.28084939e+01]
 [ 8.83687089e-02  9.96082379e-01 -3.29641963e-03  4.18596091e+00]
 [ 3.17732755e-02  4.88906899e-04  9.99494982e-01  1.06073438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.486502480999995
Centerline is valid?  [True, True]
Translation: X:32.87, Y:4.20, Z:1.06
[[ 9.96265639e-01 -8.03480099e-02 -3.16065359e-02  3.28698220e+01]
 [ 8.02841198e-02  9.96766599e-01 -3.28737990e-03  4.19540140e+00]
 [ 3.17684738e-02  7.37600726e-04  9.99494982e-01  1.06270086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.546502481
Centerline is valid?  [True, True]
Translation: X:32.93, Y:4.20, Z:1.06
[[ 9.96799629e-01 -7.34266265e-02 -3.16074536e-02  3.29315502e+01]
 [ 7.33595388e-02  9.97300170e-01 -3.27853313e-03  4.20211450e+00]
 [ 3.17628505e-02  9.49332391e-04  9.99494983e-01  1.06467106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.606502481
Centerline is valid?  [True, True]
Translation: X:32.99, Y:4.21, Z:1.07
[[ 9.96954219e-01 -7.12968126e-02 -3.16077478e-02  3.29931919e+01]
 [ 7.12287456e-02  9.97454628e-01 -3.27569414e-03  4.21282429e+00]
 [ 3.17608409e-02  1.01433686e-03  9.99494983e-01  1.06665426e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.666502480999995
Centerline is valid?  [True, True]
Translation: X:33.05, Y:4.22, Z:1.07
[[ 9.96804885e-01 -7.33546546e-02 -3.16088001e-02  3.30532271e+01]
 [ 7.32879434e-02  9.97305477e-01 -3.26550829e-03  4.21985206e+00]
 [ 3.17631697e-02  9.38530658e-04  9.99494983e-01  1.06857131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.726502481
Centerline is valid?  [True, True]
Translation: X:33.11, Y:4.23, Z:1.07
[[ 9.96391326e-01 -7.87731489e-02 -3.16088001e-02  3.31149695e+01]
 [ 7.87091604e-02  9.96892273e-01 -3.26550829e-03  4.22541710e+00]
 [ 3.17678030e-02  7.65822015e-04  9.99494983e-01  1.07054208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.786502481
Centerline is valid?  [True, True]
Translation: X:33.18, Y:4.24, Z:1.07
[[ 9.96210130e-01 -8.10320167e-02 -3.16099393e-02  3.31773119e+01]
 [ 8.09695150e-02  9.96711265e-01 -3.25444312e-03  4.23606316e+00]
 [ 3.17696967e-02  6.82667748e-04  9.99494983e-01  1.07254348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.846502480999995
Centerline is valid?  [True, True]
Translation: X:33.24, Y:4.25, Z:1.07
[[ 9.96391028e-01 -7.87759784e-02 -3.16111419e-02  3.32380080e+01]
 [ 7.87127139e-02  9.96892067e-01 -3.24272013e-03  4.24562208e+00]
 [ 3.17683451e-02  7.42818476e-04  9.99494983e-01  1.07448888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.906502481
Centerline is valid?  [True, True]
Translation: X:33.30, Y:4.26, Z:1.08
[[ 9.96734900e-01 -7.42981511e-02 -3.16120926e-02  3.32986148e+01]
 [ 7.42329304e-02  9.97235688e-01 -3.23342587e-03  4.25709884e+00]
 [ 3.17649444e-02  8.76210140e-04  9.99494983e-01  1.07643869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.966502481
Centerline is valid?  [True, True]
Translation: X:33.36, Y:4.27, Z:1.08
[[ 9.97026499e-01 -7.02767961e-02 -3.16122308e-02  3.33584081e+01]
 [ 7.02095986e-02  9.97527025e-01 -3.23207417e-03  4.27024353e+00]
 [ 3.17611943e-02  1.00298156e-03  9.99494983e-01  1.07837174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.026502480999994
Centerline is valid?  [True, True]
Translation: X:33.42, Y:4.28, Z:1.08
[[ 9.97181880e-01 -6.80364632e-02 -3.16122993e-02  3.34193264e+01]
 [ 6.79681625e-02  9.97682257e-01 -3.23140378e-03  4.28044892e+00]
 [ 3.17588834e-02  1.07366740e-03  9.99494983e-01  1.08033116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.086502481
Centerline is valid?  [True, True]
Translation: X:33.48, Y:4.29, Z:1.08
[[ 9.97289053e-01 -6.64466098e-02 -3.16131713e-02  3.34808570e+01]
 [ 6.63777822e-02  9.97789358e-01 -3.22285071e-03  4.29452584e+00]
 [ 3.17574334e-02  1.11570154e-03  9.99494983e-01  1.08231871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.146502481
Centerline is valid?  [True, True]
Translation: X:33.54, Y:4.31, Z:1.08
[[ 9.97707065e-01 -5.98427462e-02 -3.16142169e-02  3.35397433e+01]
 [ 5.97709334e-02  9.98206950e-01 -3.21256061e-03  4.30546442e+00]
 [ 3.17497795e-02  1.31558316e-03  9.99494983e-01  1.08421156e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.206502480999994
Centerline is valid?  [True, True]
Translation: X:33.60, Y:4.32, Z:1.09
[[ 9.98098220e-01 -5.29194777e-02 -3.16144231e-02  3.36002800e+01]
 [ 5.28442628e-02  9.98597605e-01 -3.21053023e-03  4.31624317e+00]
 [ 3.17399868e-02  1.53378362e-03  9.99494983e-01  1.08616000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.266502480999996
Centerline is valid?  [True, True]
Translation: X:33.66, Y:4.33, Z:1.09
[[ 9.98469260e-01 -4.53834345e-02 -3.16145763e-02  3.36598060e+01]
 [ 4.53044996e-02  9.98968070e-01 -3.20902124e-03  4.33437290e+00]
 [ 3.17275886e-02  1.77182650e-03  9.99494983e-01  1.08810032e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.326502481
Centerline is valid?  [True, True]
Translation: X:33.72, Y:4.34, Z:1.09
[[ 9.98577267e-01 -4.29413049e-02 -3.16146526e-02  3.37209025e+01]
 [ 4.28611739e-02  9.99075886e-01 -3.20826879e-03  4.34185018e+00]
 [ 3.17232043e-02  1.84866316e-03  9.99494983e-01  1.09005647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.386502480999994
Centerline is valid?  [True, True]
Translation: X:33.78, Y:4.35, Z:1.09
[[ 9.98272561e-01 -4.95216921e-02 -3.16148054e-02  3.37815294e+01]
 [ 4.94448967e-02  9.98771705e-01 -3.20676234e-03  4.35095738e+00]
 [ 3.17347774e-02  1.63803206e-03  9.99494983e-01  1.09200261e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.446502480999996
Centerline is valid?  [True, True]
Translation: X:33.84, Y:4.36, Z:1.09
[[ 9.97909449e-01 -5.63668862e-02 -3.16149579e-02  3.38420427e+01]
 [ 5.62935634e-02  9.98409115e-01 -3.20525819e-03  4.35879769e+00]
 [ 3.17453326e-02  1.41883880e-03  9.99494983e-01  1.09394109e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.506502481
Centerline is valid?  [True, True]
Translation: X:33.90, Y:4.36, Z:1.10
[[ 9.98101709e-01 -5.28532715e-02 -3.16150396e-02  3.39023719e+01]
 [ 5.27782155e-02  9.98601117e-01 -3.20445214e-03  4.36392240e+00]
 [ 3.17401797e-02  1.52978378e-03  9.99494983e-01  1.09586539e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.56650248099999
Centerline is valid?  [True, True]
Translation: X:33.96, Y:4.37, Z:1.10
[[ 9.98515687e-01 -4.43498364e-02 -3.16151127e-02  3.39613540e+01]
 [ 4.42705521e-02  9.99014442e-01 -3.20373065e-03  4.37399782e+00]
 [ 3.17260391e-02  1.79935681e-03  9.99494983e-01  1.09776299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 33.626502480999996
Centerline is valid?  [True, True]
Translation: X:34.02, Y:4.38, Z:1.10
[[ 9.98653765e-01 -4.11235385e-02 -3.16150587e-02  3.40230646e+01]
 [ 4.10426264e-02  9.99152258e-01 -3.20426349e-03  4.37787125e+00]
 [ 3.17200280e-02  1.90238475e-03  9.99494983e-01  1.09972765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.686502481
Centerline is valid?  [True, True]
Translation: X:34.08, Y:4.38, Z:1.10
[[ 9.98793556e-01 -3.75753034e-02 -3.16153430e-02  3.40846815e+01]
 [ 3.74927093e-02  9.99291773e-01 -3.20145642e-03  4.37975951e+00]
 [ 3.17132478e-02  2.01224917e-03  9.99494983e-01  1.10168130e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.74650248099999
Centerline is valid?  [True, True]
Translation: X:34.15, Y:4.38, Z:1.10
[[ 9.98838414e-01 -3.63632282e-02 -3.16154851e-02  3.41451928e+01]
 [ 3.62800738e-02  9.99336538e-01 -3.20005212e-03  4.38494574e+00]
 [ 3.17108737e-02  2.04932285e-03  9.99494983e-01  1.10361126e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.806502480999995
Centerline is valid?  [True, True]
Translation: X:34.21, Y:4.39, Z:1.11
[[ 9.98838400e-01 -3.63635517e-02 -3.16155572e-02  3.42074082e+01]
 [ 3.62804199e-02  9.99336528e-01 -3.19933979e-03  4.38724609e+00]
 [ 3.17109205e-02  2.04859774e-03  9.99494983e-01  1.10558624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.866502481
Centerline is valid?  [True, True]
Translation: X:34.27, Y:4.39, Z:1.11
[[ 9.98783199e-01 -3.78491640e-02 -3.16158478e-02  3.42676764e+01]
 [ 3.77668638e-02  9.99281465e-01 -3.19646597e-03  4.39067427e+00]
 [ 3.17141142e-02  1.99854509e-03  9.99494983e-01  1.10750217e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.92650248099999
Centerline is valid?  [True, True]
Translation: X:34.33, Y:4.39, Z:1.11
[[ 9.98905553e-01 -3.44692615e-02 -3.16159199e-02  3.43297275e+01]
 [ 3.43852982e-02  9.99403541e-01 -3.19575254e-03  4.39309381e+00]
 [ 3.17072175e-02  2.10513213e-03  9.99494983e-01  1.10947235e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.986502480999995
Centerline is valid?  [True, True]
Translation: X:34.39, Y:4.40, Z:1.11
[[ 9.99149192e-01 -2.64822023e-02 -3.16162060e-02  3.43907669e+01]
 [ 2.63943496e-02  9.99646509e-01 -3.19291953e-03  4.39618724e+00]
 [ 3.16895855e-02  2.35571377e-03  9.99494983e-01  1.11141166e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.046502481
Centerline is valid?  [True, True]
Translation: X:34.45, Y:4.40, Z:1.11
[[ 9.99191007e-01 -2.48543935e-02 -3.16162918e-02  3.44527731e+01]
 [ 2.47657574e-02  9.99688185e-01 -3.19206989e-03  4.40026907e+00]
 [ 3.16857703e-02  2.40648612e-03  9.99494983e-01  1.11338568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.106502481
Centerline is valid?  [True, True]
Translation: X:34.51, Y:4.40, Z:1.12
[[ 9.99220853e-01 -2.36236942e-02 -3.16165843e-02  3.45132216e+01]
 [ 2.35345371e-02  9.99717938e-01 -3.18916930e-03  4.40067990e+00]
 [ 3.16830065e-02  2.44260279e-03  9.99494983e-01  1.11529772e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.166502480999995
Centerline is valid?  [True, True]
Translation: X:34.58, Y:4.40, Z:1.12
[[ 9.99239876e-01 -2.28048656e-02 -3.16165836e-02  3.45754451e+01]
 [ 2.27153009e-02  9.99736888e-01 -3.18917675e-03  4.40201415e+00]
 [ 3.16809936e-02  2.46857237e-03  9.99494983e-01  1.11727027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.226502481
Centerline is valid?  [True, True]
Translation: X:34.64, Y:4.41, Z:1.12
[[ 9.98939648e-01 -3.34656846e-02 -3.16168845e-02  3.46354654e+01]
 [ 3.33815223e-02  9.99437603e-01 -3.18619043e-03  4.40637415e+00]
 [ 3.17057313e-02  2.12739221e-03  9.99494983e-01  1.11918137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.286502481
Centerline is valid?  [True, True]
Translation: X:34.70, Y:4.40, Z:1.12
[[ 9.98696480e-01 -4.00713162e-02 -3.16169220e-02  3.46979482e+01]
 [ 3.99904606e-02  9.99194983e-01 -3.18581902e-03  4.39911767e+00]
 [ 3.17191298e-02  1.91729097e-03  9.99494983e-01  1.12113458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.346502480999995
Centerline is valid?  [True, True]
Translation: X:34.76, Y:4.40, Z:1.12
[[ 9.98517462e-01 -4.43084395e-02 -3.16170755e-02  3.47571264e+01]
 [ 4.42297480e-02  9.99016311e-01 -3.18429480e-03  4.40450662e+00]
 [ 3.17270652e-02  1.78115868e-03  9.99494983e-01  1.12302303e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.406502481
Centerline is valid?  [True, True]
Translation: X:34.82, Y:4.41, Z:1.13
[[ 9.98653867e-01 -4.11195452e-02 -3.16170393e-02  3.48195154e+01]
 [ 4.10392497e-02  9.99152460e-01 -3.18465416e-03  4.40854057e+00]
 [ 3.17211941e-02  1.88282763e-03  9.99494983e-01  1.12500960e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.466502481
Centerline is valid?  [True, True]
Translation: X:34.88, Y:4.41, Z:1.13
[[ 9.98894481e-01 -3.47873547e-02 -3.16173329e-02  3.48809430e+01]
 [ 3.47039918e-02  9.99392570e-01 -3.18173619e-03  4.40738640e+00]
 [ 3.17088118e-02  2.08097106e-03  9.99494983e-01  1.12694776e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.526502480999994
Centerline is valid?  [True, True]
Translation: X:34.94, Y:4.41, Z:1.13
[[ 9.98959997e-01 -3.28521479e-02 -3.16174170e-02  3.49426281e+01]
 [ 3.27678465e-02  9.99457928e-01 -3.18090096e-03  4.41220615e+00]
 [ 3.17047775e-02  2.14155815e-03  9.99494983e-01  1.12891403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.586502481
Centerline is valid?  [True, True]
Translation: X:35.00, Y:4.41, Z:1.13
[[ 9.99116169e-01 -2.76984108e-02 -3.16177027e-02  3.50041239e+01]
 [ 2.76116314e-02  9.99613674e-01 -3.17805809e-03  4.41276149e+00]
 [ 3.16935151e-02  2.30223287e-03  9.99494983e-01  1.13085987e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.646502481
Centerline is valid?  [True, True]
Translation: X:35.07, Y:4.42, Z:1.13
[[ 9.99209227e-01 -2.41088201e-02 -3.16178082e-02  3.50650191e+01]
 [ 2.40202869e-02  9.99706423e-01 -3.17700833e-03  4.41780783e+00]
 [ 3.16851199e-02  2.41502721e-03  9.99494983e-01  1.13280179e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.706502480999994
Centerline is valid?  [True, True]
Translation: X:35.13, Y:4.42, Z:1.13
[[ 9.99398392e-01 -1.42532492e-02 -3.16180219e-02  3.51254542e+01]
 [ 1.41598836e-02  9.99894703e-01 -3.17488010e-03  4.41975066e+00]
 [ 3.16599450e-02  2.72526256e-03  9.99494983e-01  1.13471883e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.766502480999996
Centerline is valid?  [True, True]
Translation: X:35.19, Y:4.42, Z:1.14
[[ 9.99430108e-01 -1.18219799e-02 -3.16180269e-02  3.51880328e+01]
 [ 1.17274088e-02  9.99926191e-01 -3.17483010e-03  4.42106554e+00]
 [ 3.16532260e-02  2.80222326e-03  9.99494983e-01  1.13670259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 34.826502481
Centerline is valid?  [True, True]
Translation: X:35.25, Y:4.42, Z:1.14
[[ 9.99371383e-01 -1.60349469e-02 -3.16183240e-02  3.52495481e+01]
 [ 1.59425609e-02  9.99867878e-01 -3.17186827e-03  4.42219195e+00]
 [ 3.16650073e-02  2.66579733e-03  9.99494983e-01  1.13865088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.886502480999994
Centerline is valid?  [True, True]
Translation: X:35.31, Y:4.42, Z:1.14
[[ 9.99363062e-01 -1.65451743e-02 -3.16184732e-02  3.53124665e+01]
 [ 1.64530886e-02  9.99859612e-01 -3.17038018e-03  4.42155926e+00]
 [ 3.16664889e-02  2.64813930e-03  9.99494983e-01  1.14063863e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.946502480999996
Centerline is valid?  [True, True]
Translation: X:35.37, Y:4.42, Z:1.14
[[ 9.99370666e-01 -1.60786892e-02 -3.16187772e-02  3.53746029e+01]
 [ 1.59864670e-02  9.99867192e-01 -3.16734611e-03  4.42272019e+00]
 [ 3.16655047e-02  2.65988026e-03  9.99494983e-01  1.14260670e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.006502481
Centerline is valid?  [True, True]
Translation: X:35.44, Y:4.42, Z:1.14
[[ 9.99382830e-01 -1.53033512e-02 -3.16190757e-02  3.54350201e+01]
 [ 1.52108376e-02  9.99879301e-01 -3.16436288e-03  4.41972197e+00]
 [ 3.16636847e-02  2.68145730e-03  9.99494983e-01  1.14450728e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.06650248099999
Centerline is valid?  [True, True]
Translation: X:35.50, Y:4.42, Z:1.15
[[ 9.99365626e-01 -1.63877755e-02 -3.16194035e-02  3.54962271e+01]
 [ 1.62959036e-02  9.99862216e-01 -3.16108430e-03  4.41671419e+00]
 [ 3.16668500e-02  2.64381224e-03  9.99494983e-01  1.14643274e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.126502480999996
Centerline is valid?  [True, True]
Translation: X:35.56, Y:4.42, Z:1.15
[[ 9.99318297e-01 -1.90559083e-02 -3.16198208e-02  3.55559091e+01]
 [ 1.89654940e-02  9.99815155e-01 -3.15690472e-03  4.41817170e+00]
 [ 3.16741337e-02  2.55506713e-03  9.99494983e-01  1.14832377e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.186502481
Centerline is valid?  [True, True]
Translation: X:35.62, Y:4.41, Z:1.15
[[ 9.99322651e-01 -1.88263378e-02 -3.16197515e-02  3.56194777e+01]
 [ 1.87357876e-02  9.99819484e-01 -3.15759822e-03  4.41094585e+00]
 [ 3.16734897e-02  2.56303847e-03  9.99494983e-01  1.15031225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.24650248099999
Centerline is valid?  [True, True]
Translation: X:35.68, Y:4.41, Z:1.15
[[ 9.99257860e-01 -2.19977896e-02 -3.16200265e-02  3.56801196e+01]
 [ 2.19089032e-02  9.99754993e-01 -3.15484212e-03  4.41175919e+00]
 [ 3.16816790e-02  2.45974068e-03  9.99494983e-01  1.15223224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.306502480999995
Centerline is valid?  [True, True]
Translation: X:35.74, Y:4.41, Z:1.15
[[ 9.99141523e-01 -2.67654971e-02 -3.16200234e-02  3.57420065e+01]
 [ 2.66789828e-02  9.99639074e-01 -3.15487377e-03  4.41065735e+00]
 [ 3.16930526e-02  2.30857532e-03  9.99494983e-01  1.15418663e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.366502481
Centerline is valid?  [True, True]
Translation: X:35.80, Y:4.41, Z:1.16
[[ 9.99000043e-01 -3.16082174e-02 -3.16201684e-02  3.58024060e+01]
 [ 3.15241617e-02  9.99498016e-01 -3.15341901e-03  4.41324308e+00]
 [ 3.17039696e-02  2.15346642e-03  9.99494983e-01  1.15610507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.42650248099999
Centerline is valid?  [True, True]
Translation: X:35.86, Y:4.42, Z:1.16
[[ 9.98875263e-01 -3.53323149e-02 -3.16201794e-02  3.58624732e+01]
 [ 3.52501198e-02  9.99373547e-01 -3.15330883e-03  4.41780132e+00]
 [ 3.17117846e-02  2.03514707e-03  9.99494983e-01  1.15801970e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.486502480999995
Centerline is valid?  [True, True]
Translation: X:35.92, Y:4.42, Z:1.16
[[ 9.98805452e-01 -3.72536313e-02 -3.16201794e-02  3.59237272e+01]
 [ 3.71723948e-02  9.99303893e-01 -3.15330883e-03  4.42104942e+00]
 [ 3.17156406e-02  1.97414426e-03  9.99494983e-01  1.15996779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.546502481
Centerline is valid?  [True, True]
Translation: X:35.98, Y:4.43, Z:1.16
[[ 9.98944903e-01 -3.33052448e-02 -3.16202749e-02  3.59842484e+01]
 [ 3.32220689e-02  9.99443023e-01 -3.15235096e-03  4.42608261e+00]
 [ 3.17076530e-02  2.09853397e-03  9.99494983e-01  1.16189798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.60650248099999
Centerline is valid?  [True, True]
Translation: X:36.04, Y:4.44, Z:1.16
[[ 9.99085518e-01 -2.87798764e-02 -3.16203479e-02  3.60447479e+01]
 [ 2.86944680e-02  9.99583261e-01 -3.15161915e-03  4.43563060e+00]
 [ 3.16978736e-02  2.24140799e-03  9.99494983e-01  1.16384181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.666502480999995
Centerline is valid?  [True, True]
Translation: X:36.10, Y:4.44, Z:1.17
[[ 9.99276584e-01 -2.11295453e-02 -3.16204230e-02  3.61044761e+01]
 [ 2.10403521e-02  9.99773662e-01 -3.15086510e-03  4.44402883e+00]
 [ 3.16798425e-02  2.48328088e-03  9.99494983e-01  1.16575760e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.726502481
Centerline is valid?  [True, True]
Translation: X:36.17, Y:4.45, Z:1.17
[[ 9.99386014e-01 -1.50911421e-02 -3.16204377e-02  3.61651569e+01]
 [ 1.49989516e-02  9.99882545e-01 -3.15071748e-03  4.45271196e+00]
 [ 3.16642717e-02  2.67450957e-03  9.99494983e-01  1.16770464e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.786502481
Centerline is valid?  [True, True]
Translation: X:36.23, Y:4.46, Z:1.17
[[ 9.99424830e-01 -1.22536463e-02 -3.16205091e-02  3.62250313e+01]
 [ 1.21600690e-02  9.99921102e-01 -3.15000096e-03  4.46026109e+00]
 [ 3.16566133e-02  2.76368161e-03  9.99494983e-01  1.16962238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.846502480999995
Centerline is valid?  [True, True]
Translation: X:36.29, Y:4.47, Z:1.17
[[ 9.99440166e-01 -1.09311273e-02 -3.16206494e-02  3.62866595e+01]
 [ 1.08369376e-02  9.99936322e-01 -3.14859191e-03  4.46550889e+00]
 [ 3.16530535e-02  2.80415822e-03  9.99494983e-01  1.17158811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.906502481
Centerline is valid?  [True, True]
Translation: X:36.35, Y:4.47, Z:1.17
[[ 9.99425226e-01 -1.22202034e-02 -3.16209377e-02  3.63483328e+01]
 [ 1.21267447e-02  9.99921520e-01 -3.14569403e-03  4.47092856e+00]
 [ 3.16568971e-02  2.76042693e-03  9.99494983e-01  1.17355525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.966502481
Centerline is valid?  [True, True]
Translation: X:36.41, Y:4.48, Z:1.18
[[ 9.99423817e-01 -1.23342173e-02 -3.16212254e-02  3.64092614e+01]
 [ 1.22409061e-02  9.99920138e-01 -3.14279964e-03  4.47680921e+00]
 [ 3.16574640e-02  2.75391636e-03  9.99494983e-01  1.17550029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 36.026502480999994
Centerline is valid?  [True, True]
Translation: X:36.47, Y:4.48, Z:1.18
[[ 9.99432478e-01 -1.16109813e-02 -3.16212996e-02  3.64714060e+01]
 [ 1.15173344e-02  9.99928737e-01 -3.14205288e-03  4.48275843e+00]
 [ 3.16555284e-02  2.77607662e-03  9.99494983e-01  1.17748481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.086502481
Centerline is valid?  [True, True]
Translation: X:36.53, Y:4.49, Z:1.18
[[ 9.99408108e-01 -1.35465533e-02 -3.16215958e-02  3.65335874e+01]
 [ 1.34539614e-02  9.99904564e-01 -3.13906820e-03  4.48914555e+00]
 [ 3.16611016e-02  2.71177447e-03  9.99494983e-01  1.17947104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.146502481
Centerline is valid?  [True, True]
Translation: X:36.60, Y:4.49, Z:1.18
[[ 9.99454693e-01 -9.50640664e-03 -3.16218913e-02  3.65960619e+01]
 [ 9.41190214e-03  9.99950789e-01 -3.13608885e-03  4.49332136e+00]
 [ 3.16501481e-02  2.83675657e-03  9.99494983e-01  1.18145961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.206502480999994
Centerline is valid?  [True, True]
Translation: X:36.66, Y:4.50, Z:1.18
[[ 9.99467156e-01 -8.08966207e-03 -3.16221810e-02  3.66567372e+01]
 [ 7.99454617e-03  9.99963135e-01 -3.13316528e-03  4.49640262e+00]
 [ 3.16463615e-02  2.87869081e-03  9.99494983e-01  1.18338786e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.266502480999996
Centerline is valid?  [True, True]
Translation: X:36.72, Y:4.50, Z:1.19
[[ 9.99483910e-01 -5.65248245e-03 -3.16221925e-02  3.67182531e+01]
 [ 5.55616106e-03  9.99979656e-01 -3.13304900e-03  4.49974080e+00]
 [ 3.16392587e-02  2.95573407e-03  9.99494983e-01  1.18534453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.326502481
Centerline is valid?  [True, True]
Translation: X:36.78, Y:4.50, Z:1.19
[[ 9.99487894e-01 -4.89671420e-03 -3.16223383e-02  3.67784898e+01]
 [ 4.80006413e-03  9.99983576e-01 -3.13157719e-03  4.50437716e+00]
 [ 3.16371533e-02  2.97818424e-03  9.99494983e-01  1.18726432e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.386502480999994
Centerline is valid?  [True, True]
Translation: X:36.84, Y:4.51, Z:1.19
[[ 9.99497588e-01 -2.14449828e-03 -3.16223383e-02  3.68387933e+01]
 [ 2.04648366e-03  9.99993003e-01 -3.13157719e-03  4.50661582e+00]
 [ 3.16288326e-02  3.06528926e-03  9.99494983e-01  1.18917923e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.446502480999996
Centerline is valid?  [True, True]
Translation: X:36.90, Y:4.51, Z:1.19
[[ 9.99499862e-01 -2.20764353e-04 -3.16224112e-02  3.68997561e+01]
 [ 1.21819470e-04  9.99995091e-01 -3.13084053e-03  4.50945752e+00]
 [ 3.16229472e-02  3.12542245e-03  9.99494983e-01  1.19111664e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.506502481
Centerline is valid?  [True, True]
Translation: X:36.96, Y:4.51, Z:1.19
[[ 9.99499872e-01 -1.70938894e-04 -3.16224189e-02  3.69606047e+01]
 [ 7.19717463e-05  9.99995097e-01 -3.13076317e-03  4.51133835e+00]
 [ 3.16227990e-02  3.12692147e-03  9.99494983e-01  1.19304765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.56650248099999
Centerline is valid?  [True, True]
Translation: X:37.02, Y:4.51, Z:1.19
[[ 9.99494012e-01 -3.42683366e-03 -3.16224189e-02  3.70207117e+01]
 [ 3.32948024e-03  9.99989556e-01 -3.13076317e-03  4.51185544e+00]
 [ 3.16328172e-02  3.02389282e-03  9.99494983e-01  1.19495096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.626502480999996
Centerline is valid?  [True, True]
Translation: X:37.08, Y:4.51, Z:1.20
[[ 9.99466035e-01 -8.22599699e-03 -3.16224275e-02  3.70817000e+01]
 [ 8.13102685e-03  9.99962042e-01 -3.13067621e-03  4.51310015e+00]
 [ 3.16469801e-02  2.87188173e-03  9.99494983e-01  1.19688441e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.686502481
Centerline is valid?  [True, True]
Translation: X:37.14, Y:4.52, Z:1.20
[[ 9.99378191e-01 -1.55965646e-02 -3.16224260e-02  3.71422749e+01]
 [ 1.55052545e-02  9.99874885e-01 -3.13069095e-03  4.51840105e+00]
 [ 3.16672976e-02  2.63843050e-03  9.99494983e-01  1.19881751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.74650248099999
Centerline is valid?  [True, True]
Translation: X:37.20, Y:4.52, Z:1.20
[[ 9.99048656e-01 -3.00299910e-02 -3.16224938e-02  3.72033548e+01]
 [ 2.99458862e-02  9.99546621e-01 -3.13000582e-03  4.52106588e+00]
 [ 3.17021509e-02  2.18006450e-03  9.99494983e-01  1.20075810e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.806502480999995
Centerline is valid?  [True, True]
Translation: X:37.26, Y:4.53, Z:1.20
[[ 9.98606621e-01 -4.22472675e-02 -3.16225406e-02  3.72625884e+01]
 [ 4.21692747e-02  9.99105579e-01 -3.12953363e-03  4.52747193e+00]
 [ 3.17264709e-02  1.79167341e-03  9.99494983e-01  1.20265206e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.866502481
Centerline is valid?  [True, True]
Translation: X:37.32, Y:4.53, Z:1.20
[[ 9.98582450e-01 -4.28148478e-02 -3.16224553e-02  3.73240183e+01]
 [ 4.27371114e-02  9.99081448e-01 -3.13039522e-03  4.53439457e+00]
 [ 3.17274358e-02  1.77450534e-03  9.99494983e-01  1.20461758e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.92650248099999
Centerline is valid?  [True, True]
Translation: X:37.39, Y:4.54, Z:1.21
[[ 9.98547369e-01 -4.36251188e-02 -3.16227902e-02  3.73858597e+01]
 [ 4.35478942e-02  9.99046447e-01 -3.12700771e-03  4.53649707e+00]
 [ 3.17290523e-02  1.74535940e-03  9.99494983e-01  1.20657961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.986502480999995
Centerline is valid?  [True, True]
Translation: X:37.45, Y:4.55, Z:1.21
[[ 9.98738229e-01 -3.90119996e-02 -3.16229846e-02  3.74474658e+01]
 [ 3.89325325e-02  9.99236955e-01 -3.12504048e-03  4.54529748e+00]
 [ 3.17207690e-02  1.88993451e-03  9.99494983e-01  1.20855563e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.046502481
Centerline is valid?  [True, True]
Translation: X:37.51, Y:4.55, Z:1.21
[[ 9.98938254e-01 -3.35012393e-02 -3.16232776e-02  3.75069174e+01]
 [ 3.34191154e-02  9.99436549e-01 -3.12207288e-03  4.55328293e+00]
 [ 3.17100528e-02  2.06193606e-03  9.99494983e-01  1.21046059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.10650248099999
Centerline is valid?  [True, True]
Translation: X:37.57, Y:4.56, Z:1.21
[[ 9.99062237e-01 -2.95738446e-02 -3.16233171e-02  3.75686316e+01]
 [ 2.94897750e-02  9.99560207e-01 -3.12167339e-03  4.55909436e+00]
 [ 3.17017292e-02  2.18618150e-03  9.99494983e-01  1.21243120e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.166502480999995
Centerline is valid?  [True, True]
Translation: X:37.63, Y:4.57, Z:1.21
[[ 9.99207829e-01 -2.41591098e-02 -3.16235997e-02  3.76290538e+01]
 [ 2.40724329e-02  9.99705352e-01 -3.11880729e-03  4.56750051e+00]
 [ 3.16896295e-02  2.35507968e-03  9.99494983e-01  1.21436820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 37.226502481
Centerline is valid?  [True, True]
Translation: X:37.69, Y:4.57, Z:1.22
[[ 9.99360321e-01 -1.67001422e-02 -3.16236187e-02  3.76888837e+01]
 [ 1.66097602e-02  9.99857185e-01 -3.11861496e-03  4.57458953e+00]
 [ 3.16711837e-02  2.59135933e-03  9.99494983e-01  1.21628325e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.28650248099999
Centerline is valid?  [True, True]
Translation: X:37.75, Y:4.58, Z:1.22
[[ 9.99446632e-01 -1.03138418e-02 -3.16236450e-02  3.77483694e+01]
 [ 1.02202950e-02  9.99942909e-01 -3.11834856e-03  4.57555326e+00]
 [ 3.16540017e-02  2.79341998e-03  9.99494983e-01  1.21816827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.346502480999995
Centerline is valid?  [True, True]
Translation: X:37.81, Y:4.58, Z:1.22
[[ 9.99495492e-01 -2.95015017e-03 -3.16236845e-02  3.78090832e+01]
 [ 2.85296218e-03  9.99991069e-01 -3.11794753e-03  4.57680649e+00]
 [ 3.16326005e-02  3.02615332e-03  9.99494983e-01  1.22009301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.406502481
Centerline is valid?  [True, True]
Translation: X:37.87, Y:4.57, Z:1.22
[[ 9.99499837e-01  1.31881197e-04 -3.16237034e-02  3.78696596e+01]
 [-2.30590857e-04  9.99995113e-01 -3.11775537e-03  4.57485052e+00]
 [ 3.16231377e-02  3.12348812e-03  9.99494983e-01  1.22200346e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.466502481
Centerline is valid?  [True, True]
Translation: X:37.93, Y:4.58, Z:1.22
[[ 9.99499835e-01 -1.40389609e-04 -3.16237176e-02  3.79300895e+01]
 [ 4.18193788e-05  9.99995139e-01 -3.11761145e-03  4.57602117e+00]
 [ 3.16240016e-02  3.11472965e-03  9.99494983e-01  1.22391905e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.526502480999994
Centerline is valid?  [True, True]
Translation: X:37.99, Y:4.57, Z:1.23
[[ 9.99498850e-01 -1.41269600e-03 -3.16236118e-02  3.79905644e+01]
 [ 1.31472270e-03  9.99994273e-01 -3.11868475e-03  4.57418125e+00]
 [ 3.16278364e-02  3.07554554e-03  9.99494983e-01  1.22582705e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.586502481
Centerline is valid?  [True, True]
Translation: X:38.05, Y:4.57, Z:1.23
[[ 9.99498264e-01 -1.77984017e-03 -3.16236118e-02  3.80510662e+01]
 [ 1.68204887e-03  9.99993722e-01 -3.11868475e-03  4.57455701e+00]
 [ 3.16289640e-02  3.06392753e-03  9.99494983e-01  1.22774248e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.646502481
Centerline is valid?  [True, True]
Translation: X:38.11, Y:4.58, Z:1.23
[[ 9.99483767e-01 -5.66976279e-03 -3.16236118e-02  3.81118714e+01]
 [ 5.57390050e-03  9.99979603e-01 -3.11868475e-03  4.57506302e+00]
 [ 3.16406489e-02  2.94080792e-03  9.99494983e-01  1.22966791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.706502480999994
Centerline is valid?  [True, True]
Translation: X:38.17, Y:4.58, Z:1.23
[[ 9.99422466e-01 -1.24371108e-02 -3.16236118e-02  3.81722279e+01]
 [ 1.23446080e-02  9.99918939e-01 -3.11868475e-03  4.57656006e+00]
 [ 3.16598358e-02  2.72650251e-03  9.99494983e-01  1.23158223e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.766502480999996
Centerline is valid?  [True, True]
Translation: X:38.23, Y:4.58, Z:1.23
[[ 9.99282603e-01 -2.08380504e-02 -3.16236410e-02  3.82323894e+01]
 [ 2.07497337e-02  9.99779838e-01 -3.11838869e-03  4.58046905e+00]
 [ 3.16816598e-02  2.45996944e-03  9.99494983e-01  1.23349783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.826502481
Centerline is valid?  [True, True]
Translation: X:38.29, Y:4.58, Z:1.24
[[ 9.99186076e-01 -2.50424990e-02 -3.16236912e-02  3.82928888e+01]
 [ 2.49562912e-02  9.99683681e-01 -3.11787962e-03  4.58183370e+00]
 [ 3.16917675e-02  2.32613186e-03  9.99494983e-01  1.23541612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.886502480999994
Centerline is valid?  [True, True]
Translation: X:38.35, Y:4.59, Z:1.24
[[ 9.99187248e-01 -2.49956815e-02 -3.16237096e-02  3.83525803e+01]
 [ 2.49094563e-02  9.99684850e-01 -3.11769236e-03  4.58888897e+00]
 [ 3.16916723e-02  2.32742904e-03  9.99494983e-01  1.23732669e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.946502480999996
Centerline is valid?  [True, True]
Translation: X:38.41, Y:4.59, Z:1.24
[[ 9.99390793e-01 -1.47635601e-02 -3.16240341e-02  3.84129141e+01]
 [ 1.46723479e-02  9.99887505e-01 -3.11439803e-03  4.59404884e+00]
 [ 3.16664561e-02  2.64850189e-03  9.99494983e-01  1.23925079e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.006502481
Centerline is valid?  [True, True]
Translation: X:38.47, Y:4.60, Z:1.24
[[ 9.99481892e-01 -5.98892141e-03 -3.16240602e-02  3.84727199e+01]
 [ 5.89336023e-03  9.99977785e-01 -3.11413293e-03  4.60144989e+00]
 [ 3.16420079e-02  2.92614749e-03  9.99494983e-01  1.24116603e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.06650248099999
Centerline is valid?  [True, True]
Translation: X:38.53, Y:4.61, Z:1.24
[[ 9.99485358e-01 -5.37937727e-03 -3.16240513e-02  3.85340161e+01]
 [ 5.28351085e-03  9.99981193e-01 -3.11422335e-03  4.60553713e+00]
 [ 3.16402091e-02  2.94553463e-03  9.99494983e-01  1.24311820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.126502480999996
Centerline is valid?  [True, True]
Translation: X:38.59, Y:4.61, Z:1.25
[[ 9.99469749e-01 -7.75437430e-03 -3.16242060e-02  3.85935740e+01]
 [ 7.65973572e-03  9.99965819e-01 -3.11265086e-03  4.61158690e+00]
 [ 3.16472618e-02  2.86876731e-03  9.99494983e-01  1.24502101e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.186502481
Centerline is valid?  [True, True]
Translation: X:38.65, Y:4.62, Z:1.25
[[ 9.99356522e-01 -1.69249897e-02 -3.16241314e-02  3.86542105e+01]
 [ 1.68348831e-02  9.99853436e-01 -3.11340873e-03  4.61872552e+00]
 [ 3.16721909e-02  2.57901676e-03  9.99494983e-01  1.24696202e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.24650248099999
Centerline is valid?  [True, True]
Translation: X:38.71, Y:4.63, Z:1.25
[[ 9.99174959e-01 -2.54815799e-02 -3.16241950e-02  3.87145962e+01]
 [ 2.53957519e-02  9.99672630e-01 -3.11276330e-03  4.62812814e+00]
 [ 3.16931603e-02  2.30707494e-03  9.99494983e-01  1.24890173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.306502480999995
Centerline is valid?  [True, True]
Translation: X:38.77, Y:4.64, Z:1.25
[[ 9.99072213e-01 -2.92338686e-02 -3.16242608e-02  3.87737667e+01]
 [ 2.91499313e-02  9.99570206e-01 -3.11209449e-03  4.63767154e+00]
 [ 3.17016474e-02  2.18736210e-03  9.99494983e-01  1.25080341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.366502481
Centerline is valid?  [True, True]
Translation: X:38.83, Y:4.65, Z:1.25
[[ 9.99028555e-01 -3.06896551e-02 -3.16242163e-02  3.88348659e+01]
 [ 3.06064293e-02  9.99526667e-01 -3.11254585e-03  4.64956763e+00]
 [ 3.17047705e-02  2.14161785e-03  9.99494983e-01  1.25277378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 38.42650248099999
Centerline is valid?  [True, True]
Translation: X:38.89, Y:4.66, Z:1.25
[[ 9.99190137e-01 -2.48789186e-02 -3.16245101e-02  3.88934880e+01]
 [ 2.47928913e-02  9.99687773e-01 -3.10955881e-03  4.66430608e+00]
 [ 3.16919985e-02  2.32297745e-03  9.99494983e-01  1.25467357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.486502480999995
Centerline is valid?  [True, True]
Translation: X:38.95, Y:4.68, Z:1.26
[[ 9.99335218e-01 -1.81388230e-02 -3.16244506e-02  3.89532696e+01]
 [ 1.80494221e-02  9.99832259e-01 -3.11016322e-03  4.67618996e+00]
 [ 3.16755606e-02  2.53729258e-03  9.99494983e-01  1.25660225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.546502481
Centerline is valid?  [True, True]
Translation: X:39.01, Y:4.69, Z:1.26
[[ 9.99438198e-01 -1.10987480e-02 -3.16244647e-02  3.90137286e+01]
 [ 1.10058525e-02  9.99934597e-01 -3.11002010e-03  4.68911133e+00]
 [ 3.16569137e-02  2.76021869e-03  9.99494983e-01  1.25855536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.60650248099999
Centerline is valid?  [True, True]
Translation: X:39.07, Y:4.70, Z:1.26
[[ 9.99493648e-01 -3.51190002e-03 -3.16245914e-02  3.90731662e+01]
 [ 3.41527957e-03  9.99989336e-01 -3.10873073e-03  4.69899174e+00]
 [ 3.16351717e-02  2.99914980e-03  9.99494983e-01  1.26046632e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.666502480999995
Centerline is valid?  [True, True]
Translation: X:39.13, Y:4.71, Z:1.26
[[ 9.99491838e-01 -3.99414725e-03 -3.16245718e-02  3.91337179e+01]
 [ 3.89775971e-03  9.99987571e-01 -3.10893056e-03  4.71022898e+00]
 [ 3.16365963e-02  2.98408574e-03  9.99494983e-01  1.26241723e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.726502481
Centerline is valid?  [True, True]
Translation: X:39.19, Y:4.72, Z:1.26
[[ 9.99485384e-01 -5.37074886e-03 -3.16247245e-02  3.91939264e+01]
 [ 5.27509294e-03  9.99981259e-01 -3.10737624e-03  4.72156178e+00]
 [ 3.16408208e-02  2.93895377e-03  9.99494983e-01  1.26435698e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.78650248099999
Centerline is valid?  [True, True]
Translation: X:39.25, Y:4.73, Z:1.27
[[ 9.99476085e-01 -6.88634094e-03 -3.16248778e-02  3.92539672e+01]
 [ 6.79148604e-03  9.99972114e-01 -3.10581516e-03  4.73189354e+00]
 [ 3.16453836e-02  2.88940807e-03  9.99494983e-01  1.26628830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.846502480999995
Centerline is valid?  [True, True]
Translation: X:39.32, Y:4.74, Z:1.27
[[ 9.99442920e-01 -1.06635884e-02 -3.16249531e-02  3.93158714e+01]
 [ 1.05706329e-02  9.99939308e-01 -3.10504837e-03  4.73883775e+00]
 [ 3.16561447e-02  2.76902284e-03  9.99494983e-01  1.26826832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.906502481
Centerline is valid?  [True, True]
Translation: X:39.37, Y:4.75, Z:1.27
[[ 9.99361346e-01 -1.66356257e-02 -3.16252502e-02  3.93748333e+01]
 [ 1.65457333e-02  9.99858298e-01 -3.10201923e-03  4.74703663e+00]
 [ 3.16723729e-02  2.57677516e-03  9.99494983e-01  1.27015835e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.96650248099999
Centerline is valid?  [True, True]
Translation: X:39.44, Y:4.75, Z:1.27
[[ 9.99277333e-01 -2.10869503e-02 -3.16251715e-02  3.94354986e+01]
 [ 2.09992471e-02  9.99774677e-01 -3.10282135e-03  4.75171796e+00]
 [ 3.16834747e-02  2.43647425e-03  9.99494983e-01  1.27209268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.026502480999994
Centerline is valid?  [True, True]
Translation: X:39.50, Y:4.76, Z:1.27
[[ 9.99257769e-01 -2.19944582e-02 -3.16252282e-02  3.94973449e+01]
 [ 2.19072249e-02  9.99755195e-01 -3.10224366e-03  4.75914715e+00]
 [ 3.16857183e-02  2.40712009e-03  9.99494983e-01  1.27407243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.086502481
Centerline is valid?  [True, True]
Translation: X:39.56, Y:4.76, Z:1.28
[[ 9.99306526e-01 -1.96543681e-02 -3.16255129e-02  3.95597136e+01]
 [ 1.95660616e-02  9.99803762e-01 -3.09933831e-03  4.76228559e+00]
 [ 3.16802223e-02  2.47840227e-03  9.99494983e-01  1.27605460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.146502481
Centerline is valid?  [True, True]
Translation: X:39.62, Y:4.77, Z:1.28
[[ 9.99411946e-01 -1.32503258e-02 -3.16257935e-02  3.96196584e+01]
 [ 1.31589248e-02  9.99908623e-01 -3.09647313e-03  4.76634744e+00]
 [ 3.16639329e-02  2.67849080e-03  9.99494983e-01  1.27796296e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.206502480999994
Centerline is valid?  [True, True]
Translation: X:39.68, Y:4.77, Z:1.28
[[ 9.99481505e-01 -6.04418023e-03 -3.16257684e-02  3.96800571e+01]
 [ 5.94919247e-03  9.99977508e-01 -3.09672949e-03  4.77432406e+00]
 [ 3.16437742e-02  2.90697607e-03  9.99494983e-01  1.27989888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.266502480999996
Centerline is valid?  [True, True]
Translation: X:39.74, Y:4.78, Z:1.28
[[ 9.99498350e-01 -1.69076435e-03 -3.16257735e-02  3.97406517e+01]
 [ 1.59361873e-03  9.99993935e-01 -3.09667706e-03  4.77694336e+00]
 [ 3.16308174e-02  3.04472419e-03  9.99494983e-01  1.28182430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.326502481
Centerline is valid?  [True, True]
Translation: X:39.80, Y:4.78, Z:1.28
[[ 9.99495129e-01 -3.04900766e-03 -3.16257949e-02  3.98003011e+01]
 [ 2.95254243e-03  9.99990847e-01 -3.09645881e-03  4.78495193e+00]
 [ 3.16349465e-02  3.00151900e-03  9.99494983e-01  1.28373645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.386502480999994
Centerline is valid?  [True, True]
Translation: X:39.86, Y:4.79, Z:1.29
[[ 9.99481217e-01 -6.09141244e-03 -3.16257949e-02  3.98599201e+01]
 [ 5.99645661e-03  9.99977227e-01 -3.09645881e-03  4.79337395e+00]
 [ 3.16439364e-02  2.90520972e-03  9.99494983e-01  1.28564899e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.446502480999996
Centerline is valid?  [True, True]
Translation: X:39.92, Y:4.80, Z:1.29
[[ 9.99462182e-01 -8.66922301e-03 -3.16257949e-02  3.99200056e+01]
 [ 8.57554678e-03  9.99958435e-01 -3.09645881e-03  4.80095169e+00]
 [ 3.16513242e-02  2.82358500e-03  9.99494983e-01  1.28757368e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.506502481
Centerline is valid?  [True, True]
Translation: X:39.98, Y:4.81, Z:1.29
[[ 9.99440324e-01 -1.09017370e-02 -3.16257940e-02  3.99796695e+01]
 [ 1.08091693e-02  9.99936785e-01 -3.09646733e-03  4.81350182e+00]
 [ 3.16575517e-02  2.75288576e-03  9.99494983e-01  1.28950043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.56650248099999
Centerline is valid?  [True, True]
Translation: X:40.04, Y:4.82, Z:1.29
[[ 9.99412327e-01 -1.32206685e-02 -3.16261824e-02  4.00407365e+01]
 [ 1.31293777e-02  9.99909024e-01 -3.09249505e-03  4.82212499e+00]
 [ 3.16641901e-02  2.67544558e-03  9.99494983e-01  1.29145800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 39.626502480999996
Centerline is valid?  [True, True]
Translation: X:40.10, Y:4.83, Z:1.29
[[ 9.99389465e-01 -1.48481402e-02 -3.16264005e-02  4.01020188e+01]
 [ 1.47577285e-02  9.99886323e-01 -3.09026352e-03  4.82965756e+00]
 [ 3.16686900e-02  2.62164297e-03  9.99494983e-01  1.29341961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.686502481
Centerline is valid?  [True, True]
Translation: X:40.16, Y:4.84, Z:1.30
[[ 9.99438296e-01 -1.10835865e-02 -3.16266815e-02  4.01628490e+01]
 [ 1.09913943e-02  9.99934827e-01 -3.08738529e-03  4.83869086e+00]
 [ 3.16588395e-02  2.73802977e-03  9.99494983e-01  1.29537132e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.74650248099999
Centerline is valid?  [True, True]
Translation: X:40.22, Y:4.85, Z:1.30
[[ 9.99492554e-01 -3.79196430e-03 -3.16268251e-02  4.02233653e+01]
 [ 3.69619833e-03  9.99988408e-01 -3.08591285e-03  4.84538833e+00]
 [ 3.16381602e-02  2.96744790e-03  9.99494983e-01  1.29730637e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.806502480999995
Centerline is valid?  [True, True]
Translation: X:40.28, Y:4.85, Z:1.30
[[ 9.99496855e-01 -2.40425922e-03 -3.16268275e-02  4.02843573e+01]
 [ 2.30780567e-03  9.99992576e-01 -3.08588848e-03  4.85303357e+00]
 [ 3.16340120e-02  3.01134725e-03  9.99494983e-01  1.29925992e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.866502481
Centerline is valid?  [True, True]
Translation: X:40.34, Y:4.86, Z:1.30
[[ 9.99498240e-01  1.73295261e-03 -3.16269741e-02  4.03438757e+01]
 [-1.83141018e-03  9.99993566e-01 -3.08438566e-03  4.86129939e+00]
 [ 3.16214255e-02  3.14076000e-03  9.99494983e-01  1.30116823e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.92650248099999
Centerline is valid?  [True, True]
Translation: X:40.40, Y:4.87, Z:1.30
[[ 9.99499177e-01 -1.06437792e-03 -3.16269152e-02  4.04043119e+01]
 [ 9.67288118e-04  9.99994774e-01 -3.08498872e-03  4.86671235e+00]
 [ 3.16300335e-02  3.05285135e-03  9.99494983e-01  1.30309753e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.986502480999995
Centerline is valid?  [True, True]
Translation: X:40.46, Y:4.87, Z:1.31
[[ 9.99498392e-01 -1.64407193e-03 -3.16269044e-02  4.04646288e+01]
 [ 1.54726609e-03  9.99994044e-01 -3.08510034e-03  4.87242128e+00]
 [ 3.16317881e-02  3.03461759e-03  9.99494983e-01  1.30502379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.046502481
Centerline is valid?  [True, True]
Translation: X:40.52, Y:4.88, Z:1.31
[[ 9.99492576e-01 -3.78542166e-03 -3.16269044e-02  4.05244755e+01]
 [ 3.68967794e-03  9.99988434e-01 -3.08510034e-03  4.87831176e+00]
 [ 3.16382170e-02  2.96684179e-03  9.99494983e-01  1.30693569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.10650248099999
Centerline is valid?  [True, True]
Translation: X:40.58, Y:4.88, Z:1.31
[[ 9.99491807e-01 -3.98293704e-03 -3.16269574e-02  4.05842887e+01]
 [ 3.88730836e-03  9.99987687e-01 -3.08455636e-03  4.88256468e+00]
 [ 3.16388536e-02  2.96004507e-03  9.99494983e-01  1.30884129e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.166502480999995
Centerline is valid?  [True, True]
Translation: X:40.65, Y:4.89, Z:1.31
[[ 9.99481749e-01 -5.99739503e-03 -3.16269574e-02  4.06453849e+01]
 [ 5.90276599e-03  9.99977821e-01 -3.08455636e-03  4.88549292e+00]
 [ 3.16447553e-02  2.89627126e-03  9.99494983e-01  1.31078359e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.226502481
Centerline is valid?  [True, True]
Translation: X:40.71, Y:4.89, Z:1.31
[[ 9.99478510e-01 -6.51453094e-03 -3.16270266e-02  4.07075368e+01]
 [ 6.42018085e-03  9.99974635e-01 -3.08384682e-03  4.88626885e+00]
 [ 3.16463142e-02  2.87918739e-03  9.99494983e-01  1.31275240e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.28650248099999
Centerline is valid?  [True, True]
Translation: X:40.77, Y:4.89, Z:1.31
[[ 9.99455765e-01 -9.37481636e-03 -3.16273128e-02  4.07681369e+01]
 [ 9.28197873e-03  9.99952175e-01 -3.08090881e-03  4.88841739e+00]
 [ 3.16546832e-02  2.78566802e-03  9.99494983e-01  1.31467556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.346502480999995
Centerline is valid?  [True, True]
Translation: X:40.83, Y:4.89, Z:1.32
[[ 9.99417096e-01 -1.28523397e-02 -3.16273068e-02  4.08296930e+01]
 [ 1.27612280e-02  9.99913826e-01 -3.08097072e-03  4.88965463e+00]
 [ 3.16641790e-02  2.67557154e-03  9.99494983e-01  1.31662724e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.406502481
Centerline is valid?  [True, True]
Translation: X:40.89, Y:4.90, Z:1.32
[[ 9.99371048e-01 -1.60377016e-02 -3.16275189e-02  4.08901378e+01]
 [ 1.59482420e-02  9.99868079e-01 -3.07879169e-03  4.89594655e+00]
 [ 3.16727233e-02  2.57245195e-03  9.99494983e-01  1.31855855e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.46650248099999
Centerline is valid?  [True, True]
Translation: X:40.95, Y:4.90, Z:1.32
[[ 9.99334026e-01 -1.81989179e-02 -3.16275892e-02  4.09518619e+01]
 [ 1.81105561e-02  9.99831252e-01 -3.07806938e-03  4.90021867e+00]
 [ 3.16782696e-02  2.50322624e-03  9.99494983e-01  1.32052462e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.526502480999994
Centerline is valid?  [True, True]
Translation: X:41.01, Y:4.91, Z:1.32
[[ 9.99057141e-01 -2.97407306e-02 -3.16278023e-02  4.10122690e+01]
 [ 2.96581871e-02  9.99555367e-01 -3.07587830e-03  4.90578281e+00]
 [ 3.17052184e-02  2.13495490e-03  9.99494983e-01  1.32245250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.586502481
Centerline is valid?  [True, True]
Translation: X:41.07, Y:4.91, Z:1.32
[[ 9.98921197e-01 -3.40017906e-02 -3.16278299e-02  4.10734577e+01]
 [ 3.39213820e-02  9.99419772e-01 -3.07559390e-03  4.91202364e+00]
 [ 3.17140543e-02  1.99941625e-03  9.99494983e-01  1.32440785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.64650248099999
Centerline is valid?  [True, True]
Translation: X:41.14, Y:4.92, Z:1.33
[[ 9.98968831e-01 -3.25721637e-02 -3.16279741e-02  4.11353457e+01]
 [ 3.24910884e-02  9.99467298e-01 -3.07411069e-03  4.91675689e+00]
 [ 3.17112562e-02  2.04331347e-03  9.99494983e-01  1.32638027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.706502480999994
Centerline is valid?  [True, True]
Translation: X:41.20, Y:4.92, Z:1.33
[[ 9.99070719e-01 -2.92805807e-02 -3.16282624e-02  4.11977378e+01]
 [ 2.91979570e-02  9.99568931e-01 -3.07114100e-03  4.92156090e+00]
 [ 3.17045533e-02  2.14480640e-03  9.99494983e-01  1.32836836e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.766502480999996
Centerline is valid?  [True, True]
Translation: X:41.26, Y:4.93, Z:1.33
[[ 9.99286363e-01 -2.06494264e-02 -3.16285481e-02  4.12579301e+01]
 [ 2.05625948e-02  9.99783860e-01 -3.06819605e-03  4.92768975e+00]
 [ 3.16850684e-02  2.41564145e-03  9.99494983e-01  1.33029092e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 40.826502481
Centerline is valid?  [True, True]
Translation: X:41.32, Y:4.93, Z:1.33
[[ 9.99414765e-01 -1.30292240e-02 -3.16285632e-02  4.13178874e+01]
 [ 1.29386064e-02  9.99911586e-01 -3.06804115e-03  4.93247174e+00]
 [ 3.16657409e-02  2.65701610e-03  9.99494983e-01  1.33220287e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.886502480999994
Centerline is valid?  [True, True]
Translation: X:41.38, Y:4.94, Z:1.33
[[ 9.99445538e-01 -1.04043336e-02 -3.16285745e-02  4.13790128e+01]
 [ 1.03124151e-02  9.99942119e-01 -3.06792459e-03  4.94124344e+00]
 [ 3.16586635e-02  2.74005655e-03  9.99494983e-01  1.33416404e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.946502480999996
Centerline is valid?  [True, True]
Translation: X:41.44, Y:4.94, Z:1.34
[[ 9.99288793e-01 -2.05308122e-02 -3.16289942e-02  4.14397031e+01]
 [ 2.04440666e-02  9.99786304e-01 -3.06359062e-03  4.94462222e+00]
 [ 3.16851333e-02  2.41478651e-03  9.99494983e-01  1.33609344e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.006502481
Centerline is valid?  [True, True]
Translation: X:41.50, Y:4.95, Z:1.34
[[ 9.98913094e-01 -3.42379069e-02 -3.16290574e-02  4.14998172e+01]
 [ 3.41580152e-02  9.99411751e-01 -3.06293833e-03  4.94807532e+00]
 [ 3.17153203e-02  1.97922338e-03  9.99494983e-01  1.33800611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.06650248099999
Centerline is valid?  [True, True]
Translation: X:41.56, Y:4.95, Z:1.34
[[ 9.98556260e-01 -4.34165598e-02 -3.16290781e-02  4.15588062e+01]
 [ 4.33412610e-02  9.99055631e-01 -3.06272511e-03  4.95350789e+00]
 [ 3.17321815e-02  1.68745920e-03  9.99494983e-01  1.33988940e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.126502480999996
Centerline is valid?  [True, True]
Translation: X:41.62, Y:4.96, Z:1.34
[[ 9.98473968e-01 -4.52696554e-02 -3.16290033e-02  4.16192779e+01]
 [ 4.51952590e-02  9.98973475e-01 -3.06349667e-03  4.95996870e+00]
 [ 3.17352188e-02  1.62934068e-03  9.99494983e-01  1.34182309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.186502481
Centerline is valid?  [True, True]
Translation: X:41.68, Y:4.97, Z:1.34
[[ 9.98608602e-01 -4.21954680e-02 -3.16291390e-02  4.16801798e+01]
 [ 4.21195785e-02  9.99107884e-01 -3.06209563e-03  4.96901448e+00]
 [ 3.17301287e-02  1.72562904e-03  9.99494983e-01  1.34377757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.24650248099999
Centerline is valid?  [True, True]
Translation: X:41.74, Y:4.98, Z:1.35
[[ 9.98756336e-01 -3.85404994e-02 -3.16292755e-02  4.17403633e+01]
 [ 3.84628276e-02  9.99255344e-01 -3.06068446e-03  4.97738944e+00]
 [ 3.17236829e-02  1.84032663e-03  9.99494983e-01  1.34570725e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.306502480999995
Centerline is valid?  [True, True]
Translation: X:41.80, Y:4.98, Z:1.35
[[ 9.98936483e-01 -3.35482778e-02 -3.16293478e-02  4.18003261e+01]
 [ 3.34681365e-02  9.99435101e-01 -3.05993752e-03  4.98386901e+00]
 [ 3.17141360e-02  1.99810789e-03  9.99494983e-01  1.34762437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.366502481
Centerline is valid?  [True, True]
Translation: X:41.86, Y:4.99, Z:1.35
[[ 9.99090821e-01 -2.85851623e-02 -3.16294184e-02  4.18622568e+01]
 [ 2.85025679e-02  9.99589038e-01 -3.05920728e-03  4.98865801e+00]
 [ 3.17038679e-02  2.15490627e-03  9.99494983e-01  1.34959860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.42650248099999
Centerline is valid?  [True, True]
Translation: X:41.92, Y:4.99, Z:1.35
[[ 9.98948833e-01 -3.31781607e-02 -3.16297018e-02  4.19220200e+01]
 [ 3.30979502e-02  9.99447440e-01 -3.05627467e-03  4.99231179e+00]
 [ 3.17136260e-02  2.00618372e-03  9.99494983e-01  1.35150000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.486502480999995
Centerline is valid?  [True, True]
Translation: X:41.98, Y:5.00, Z:1.35
[[ 9.98604644e-01 -4.22886160e-02 -3.16297018e-02  4.19824016e+01]
 [ 4.22129568e-02  9.99103961e-01 -3.05627467e-03  4.99670167e+00]
 [ 3.17306060e-02  1.71682684e-03  9.99494983e-01  1.35342424e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.546502481
Centerline is valid?  [True, True]
Translation: X:42.04, Y:5.00, Z:1.36
[[ 9.98265254e-01 -4.96592772e-02 -3.16297204e-02  4.20419993e+01]
 [ 4.95873121e-02  9.98765117e-01 -3.05608162e-03  4.99762858e+00]
 [ 3.17424242e-02  1.48234727e-03  9.99494983e-01  1.35531302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.60650248099999
Centerline is valid?  [True, True]
Translation: X:42.10, Y:5.00, Z:1.36
[[ 9.97997273e-01 -5.47814527e-02 -3.16296588e-02  4.21023282e+01]
 [ 5.47120337e-02  9.98497496e-01 -3.05671932e-03  5.00143604e+00]
 [ 3.17495866e-02  1.32007459e-03  9.99494983e-01  1.35723403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.666502480999995
Centerline is valid?  [True, True]
Translation: X:42.16, Y:5.01, Z:1.36
[[ 9.98269827e-01 -4.95673050e-02 -3.16296541e-02  4.21630619e+01]
 [ 4.94952723e-02  9.98769680e-01 -3.05676795e-03  5.00527478e+00]
 [ 3.17422553e-02  1.48596087e-03  9.99494983e-01  1.35916774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.726502481
Centerline is valid?  [True, True]
Translation: X:42.22, Y:5.01, Z:1.36
[[ 9.98616101e-01 -4.20171816e-02 -3.16297264e-02  4.22228897e+01]
 [ 4.19413948e-02  9.99115399e-01 -3.05601997e-03  5.00876705e+00]
 [ 3.17301520e-02  1.72519591e-03  9.99494983e-01  1.36107146e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.78650248099999
Centerline is valid?  [True, True]
Translation: X:42.28, Y:5.01, Z:1.36
[[ 9.98940663e-01 -3.34232295e-02 -3.16297255e-02  4.22835261e+01]
 [ 3.33431490e-02  9.99439290e-01 -3.05602940e-03  5.01474785e+00]
 [ 3.17141327e-02  1.99815738e-03  9.99494983e-01  1.36300863e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.846502480999995
Centerline is valid?  [True, True]
Translation: X:42.35, Y:5.02, Z:1.36
[[ 9.99062179e-01 -2.95689190e-02 -3.16297435e-02  4.23461897e+01]
 [ 2.94869212e-02  9.99560495e-01 -3.05584233e-03  5.01674023e+00]
 [ 3.17062001e-02  2.12031274e-03  9.99494983e-01  1.36499770e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.906502481
Centerline is valid?  [True, True]
Translation: X:42.41, Y:5.02, Z:1.37
[[ 9.98951134e-01 -3.31085000e-02 -3.16300366e-02  4.24057207e+01]
 [ 3.30283641e-02  9.99449752e-01 -3.05280548e-03  5.01756182e+00]
 [ 3.17137061e-02  2.00491513e-03  9.99494983e-01  1.36688313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.96650248099999
Centerline is valid?  [True, True]
Translation: X:42.47, Y:5.02, Z:1.37
[[ 9.98858590e-01 -3.57919413e-02 -3.16299654e-02  4.24678862e+01]
 [ 3.57131218e-02  9.99357418e-01 -3.05354380e-03  5.01780708e+00]
 [ 3.17189328e-02  1.92045365e-03  9.99494983e-01  1.36885140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 42.026502480999994
Centerline is valid?  [True, True]
Translation: X:42.53, Y:5.02, Z:1.37
[[ 9.98576583e-01 -4.29457167e-02 -3.16302443e-02  4.25286374e+01]
 [ 4.28705636e-02  9.99075977e-01 -3.05065208e-03  5.01947339e+00]
 [ 3.17320296e-02  1.69030334e-03  9.99494983e-01  1.37077812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.086502481
Centerline is valid?  [True, True]
Translation: X:42.59, Y:5.02, Z:1.37
[[ 9.98240484e-01 -5.01543305e-02 -3.16303405e-02  4.25890888e+01]
 [ 5.00828166e-02  9.98740412e-01 -3.04965448e-03  5.02357043e+00]
 [ 3.17434526e-02  1.46015203e-03  9.99494983e-01  1.37270337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.14650248099999
Centerline is valid?  [True, True]
Translation: X:42.65, Y:5.03, Z:1.37
[[ 9.98298401e-01 -4.89879889e-02 -3.16303464e-02  4.26507667e+01]
 [ 4.89158929e-02  9.98798246e-01 -3.04959328e-03  5.02948662e+00]
 [ 3.17417279e-02  1.49717746e-03  9.99494983e-01  1.37467328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.206502480999994
Centerline is valid?  [True, True]
Translation: X:42.71, Y:5.03, Z:1.38
[[ 9.98637509e-01 -4.15045649e-02 -3.16306380e-02  4.27108624e+01]
 [ 4.14288203e-02  9.99136813e-01 -3.04656577e-03  5.03274727e+00]
 [ 3.17297812e-02  1.73199483e-03  9.99494983e-01  1.37658410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.266502480999996
Centerline is valid?  [True, True]
Translation: X:42.77, Y:5.04, Z:1.38
[[ 9.98672093e-01 -4.06638860e-02 -3.16306797e-02  4.27715838e+01]
 [ 4.05877347e-02  9.99171335e-01 -3.04613254e-03  5.04096122e+00]
 [ 3.17283360e-02  1.75826992e-03  9.99494983e-01  1.37853063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.32650248099999
Centerline is valid?  [True, True]
Translation: X:42.83, Y:5.04, Z:1.38
[[ 9.98783627e-01 -3.78253515e-02 -3.16308210e-02  4.28339170e+01]
 [ 3.77478280e-02  9.99282658e-01 -3.04466417e-03  5.04444995e+00]
 [ 3.17232964e-02  1.84696593e-03  9.99494983e-01  1.38051345e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.386502480999994
Centerline is valid?  [True, True]
Translation: X:42.89, Y:5.05, Z:1.38
[[ 9.99023265e-01 -3.08543237e-02 -3.16311016e-02  4.28944120e+01]
 [ 3.07734116e-02  9.99521758e-01 -3.04174650e-03  5.04953844e+00]
 [ 3.17098253e-02  2.06537861e-03  9.99494983e-01  1.38244252e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.446502480999996
Centerline is valid?  [True, True]
Translation: X:42.96, Y:5.05, Z:1.38
[[ 9.99264675e-01 -2.16698355e-02 -3.16311291e-02  4.29550187e+01]
 [ 2.15843535e-02  9.99762404e-01 -3.04145987e-03  5.05422672e+00]
 [ 3.16895217e-02  2.35648593e-03  9.99494983e-01  1.38437473e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.506502481
Centerline is valid?  [True, True]
Translation: X:43.02, Y:5.05, Z:1.39
[[ 9.99261421e-01 -2.18193232e-02 -3.16311585e-02  4.30160832e+01]
 [ 2.17339254e-02  9.99759165e-01 -3.04115477e-03  5.05449502e+00]
 [ 3.16898965e-02  2.35143939e-03  9.99494983e-01  1.38630796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.56650248099999
Centerline is valid?  [True, True]
Translation: X:43.08, Y:5.06, Z:1.39
[[ 9.99229811e-01 -2.32217236e-02 -3.16312423e-02  4.30785352e+01]
 [ 2.31370518e-02  9.99727680e-01 -3.04028219e-03  5.05680537e+00]
 [ 3.16932291e-02  2.30608690e-03  9.99494983e-01  1.38829116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.626502480999996
Centerline is valid?  [True, True]
Translation: X:43.14, Y:5.06, Z:1.39
[[ 9.99076011e-01 -2.90959015e-02 -3.16315181e-02  4.31394970e+01]
 [ 2.90142488e-02  9.99574383e-01 -3.03741040e-03  5.06206782e+00]
 [ 3.17064314e-02  2.11683913e-03  9.99494983e-01  1.39023558e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.686502481
Centerline is valid?  [True, True]
Translation: X:43.20, Y:5.06, Z:1.39
[[ 9.99043564e-01 -3.01893911e-02 -3.16315889e-02  4.32003644e+01]
 [ 3.01083071e-02  9.99542029e-01 -3.03667296e-03  5.06378381e+00]
 [ 3.17087779e-02  2.08139499e-03  9.99494983e-01  1.39216688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.74650248099999
Centerline is valid?  [True, True]
Translation: X:43.26, Y:5.07, Z:1.39
[[ 9.99064779e-01 -2.94788961e-02 -3.16316583e-02  4.32615370e+01]
 [ 2.93974804e-02  9.99563190e-01 -3.03594978e-03  5.06721988e+00]
 [ 3.17073377e-02  2.10321944e-03  9.99494983e-01  1.39411308e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.806502480999995
Centerline is valid?  [True, True]
Translation: X:43.32, Y:5.07, Z:1.40
[[ 9.98856016e-01 -3.58621407e-02 -3.16317266e-02  4.33210075e+01]
 [ 3.57839339e-02  9.99354941e-01 -3.03523868e-03  5.07244755e+00]
 [ 3.17201724e-02  1.89985880e-03  9.99494983e-01  1.39601085e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.866502481
Centerline is valid?  [True, True]
Translation: X:43.38, Y:5.08, Z:1.40
[[ 9.98923794e-01 -3.39217856e-02 -3.16317197e-02  4.33821526e+01]
 [ 3.38426075e-02  9.99422566e-01 -3.03531007e-03  5.07690338e+00]
 [ 3.17164176e-02  1.96154358e-03  9.99494983e-01  1.39795950e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.92650248099999
Centerline is valid?  [True, True]
Translation: X:43.44, Y:5.08, Z:1.40
[[ 9.98844464e-01 -3.61823557e-02 -3.16318610e-02  4.34425932e+01]
 [ 3.61043531e-02  9.99343420e-01 -3.03383682e-03  5.07907483e+00]
 [ 3.17208635e-02  1.88828323e-03  9.99494983e-01  1.39987849e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.986502480999995
Centerline is valid?  [True, True]
Translation: X:43.50, Y:5.09, Z:1.40
[[ 9.98839429e-01 -3.63210097e-02 -3.16319314e-02  4.35036069e+01]
 [ 3.62430995e-02  9.99338400e-01 -3.03310280e-03  5.08786210e+00]
 [ 3.17211691e-02  1.88314344e-03  9.99494983e-01  1.40183590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.046502481
Centerline is valid?  [True, True]
Translation: X:43.56, Y:5.09, Z:1.40
[[ 9.99028307e-01 -3.06893315e-02 -3.16323751e-02  4.35642997e+01]
 [ 3.06087556e-02  9.99526854e-01 -3.02846805e-03  5.09386344e+00]
 [ 3.17103501e-02  2.05729767e-03  9.99494983e-01  1.40377357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.10650248099999
Centerline is valid?  [True, True]
Translation: X:43.63, Y:5.10, Z:1.41
[[ 9.98880835e-01 -3.51632811e-02 -3.16325834e-02  4.36255109e+01]
 [ 3.50850076e-02  9.99379750e-01 -3.02629101e-03  5.10208563e+00]
 [ 3.17193776e-02  1.91307466e-03  9.99494983e-01  1.40573508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.166502480999995
Centerline is valid?  [True, True]
Translation: X:43.69, Y:5.11, Z:1.41
[[ 9.98838845e-01 -3.63362591e-02 -3.16328585e-02  4.36878625e+01]
 [ 3.62586624e-02  9.99337865e-01 -3.02341218e-03  5.10878848e+00]
 [ 3.17217728e-02  1.87293639e-03  9.99494983e-01  1.40772787e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 43.226502481
Centerline is valid?  [True, True]
Translation: X:43.75, Y:5.12, Z:1.41
[[ 9.98712374e-01 -3.96602418e-02 -3.16331995e-02  4.37478219e+01]
 [ 3.95844190e-02  9.99211666e-01 -3.01984092e-03  5.11795261e+00]
 [ 3.17280296e-02  1.76377067e-03  9.99494983e-01  1.40965218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.28650248099999
Centerline is valid?  [True, True]
Translation: X:43.81, Y:5.13, Z:1.41
[[ 9.98697422e-01 -4.00349247e-02 -3.16332673e-02  4.38094242e+01]
 [ 3.99593116e-02  9.99196747e-01 -3.01913041e-03  5.12573519e+00]
 [ 3.17287284e-02  1.75115417e-03  9.99494983e-01  1.41162515e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.346502480999995
Centerline is valid?  [True, True]
Translation: X:43.87, Y:5.14, Z:1.41
[[ 9.98625704e-01 -4.17854314e-02 -3.16335478e-02  4.38692304e+01]
 [ 4.17107866e-02  9.99125174e-01 -3.01618820e-03  5.13556673e+00]
 [ 3.17319067e-02  1.69258290e-03  9.99494983e-01  1.41354678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.406502481
Centerline is valid?  [True, True]
Translation: X:43.93, Y:5.14, Z:1.42
[[ 9.98730924e-01 -3.91899826e-02 -3.16336175e-02  4.39312108e+01]
 [ 3.91140631e-02  9.99230202e-01 -3.01545712e-03  5.14431361e+00]
 [ 3.17274417e-02  1.77431097e-03  9.99494983e-01  1.41553460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.46650248099999
Centerline is valid?  [True, True]
Translation: X:43.99, Y:5.15, Z:1.42
[[ 9.98803841e-01 -3.72851858e-02 -3.16338909e-02  4.39917350e+01]
 [ 3.72084049e-02  9.99302987e-01 -3.01258625e-03  5.15117860e+00]
 [ 3.17241665e-02  1.83193609e-03  9.99494983e-01  1.41747000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.526502480999994
Centerline is valid?  [True, True]
Translation: X:44.05, Y:5.16, Z:1.42
[[ 9.98922665e-01 -3.39529522e-02 -3.16339584e-02  4.40515254e+01]
 [ 3.38745289e-02  9.99421555e-01 -3.01187791e-03  5.15870951e+00]
 [ 3.17179220e-02  1.93704767e-03  9.99494983e-01  1.41938484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.586502481
Centerline is valid?  [True, True]
Translation: X:44.11, Y:5.17, Z:1.42
[[ 9.99158553e-01 -2.61050491e-02 -3.16340244e-02  4.41119707e+01]
 [ 2.60227311e-02  9.99656816e-01 -3.01118416e-03  5.16641066e+00]
 [ 3.17017752e-02  2.18544670e-03  9.99494983e-01  1.42132092e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.64650248099999
Centerline is valid?  [True, True]
Translation: X:44.17, Y:5.17, Z:1.42
[[ 9.99259959e-01 -2.18819851e-02 -3.16340363e-02  4.41719600e+01]
 [ 2.17975659e-02  9.99757871e-01 -3.01105902e-03  5.17232837e+00]
 [ 3.16922647e-02  2.31928572e-03  9.99494983e-01  1.42323737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.706502480999994
Centerline is valid?  [True, True]
Translation: X:44.23, Y:5.18, Z:1.43
[[ 9.99287116e-01 -2.06045437e-02 -3.16340489e-02  4.42330313e+01]
 [ 2.05194923e-02  9.99784919e-01 -3.01092650e-03  5.17800669e+00]
 [ 3.16892838e-02  2.35966544e-03  9.99494983e-01  1.42518735e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.766502480999996
Centerline is valid?  [True, True]
Translation: X:44.29, Y:5.18, Z:1.43
[[ 9.99180999e-01 -2.52311170e-02 -3.16341967e-02  4.42923412e+01]
 [ 2.51484203e-02  9.99679199e-01 -3.00937349e-03  5.18144279e+00]
 [ 3.16999782e-02  2.21135874e-03  9.99494983e-01  1.42707438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.82650248099999
Centerline is valid?  [True, True]
Translation: X:44.35, Y:5.18, Z:1.43
[[ 9.99085393e-01 -2.87690067e-02 -3.16341804e-02  4.43540217e+01]
 [ 2.86880692e-02  9.99583882e-01 -3.00954455e-03  5.18482489e+00]
 [ 3.17075984e-02  2.09926845e-03  9.99494983e-01  1.42903681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.886502480999994
Centerline is valid?  [True, True]
Translation: X:44.41, Y:5.19, Z:1.43
[[ 9.98829057e-01 -3.66030118e-02 -3.16343901e-02  4.44147500e+01]
 [ 3.65260556e-02  9.99328176e-01 -3.00733864e-03  5.18710183e+00]
 [ 3.17232150e-02  1.84833773e-03  9.99494983e-01  1.43096506e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.946502480999996
Centerline is valid?  [True, True]
Translation: X:44.48, Y:5.19, Z:1.43
[[ 9.98574137e-01 -4.29995020e-02 -3.16343965e-02  4.44754221e+01]
 [ 4.29257463e-02  9.99073739e-01 -3.00727133e-03  5.19377063e+00]
 [ 3.17344060e-02  1.64505330e-03  9.99494983e-01  1.43290540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.00650248099999
Centerline is valid?  [True, True]
Translation: X:44.54, Y:5.20, Z:1.43
[[ 9.98646277e-01 -4.12901433e-02 -3.16344394e-02  4.45371167e+01]
 [ 4.12155467e-02  9.99145754e-01 -3.00682021e-03  5.19704665e+00]
 [ 3.17315678e-02  1.69891910e-03  9.99494983e-01  1.43486778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.06650248099999
Centerline is valid?  [True, True]
Translation: X:44.60, Y:5.20, Z:1.44
[[ 9.98789415e-01 -3.76689995e-02 -3.16346560e-02  4.45979843e+01]
 [ 3.75926644e-02  9.99288629e-01 -3.00453948e-03  5.19813093e+00]
 [ 3.17253300e-02  1.81167123e-03  9.99494983e-01  1.43679685e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.126502480999996
Centerline is valid?  [True, True]
Translation: X:44.66, Y:5.21, Z:1.44
[[ 9.98810260e-01 -3.71121458e-02 -3.16346703e-02  4.46601399e+01]
 [ 3.70355372e-02  9.99309433e-01 -3.00438886e-03  5.20564484e+00]
 [ 3.17243237e-02  1.82920741e-03  9.99494983e-01  1.43878666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.186502481
Centerline is valid?  [True, True]
Translation: X:44.72, Y:5.20, Z:1.44
[[ 9.99194046e-01 -2.47080783e-02 -3.16349461e-02  4.47211708e+01]
 [ 2.46253694e-02  9.99692244e-01 -3.00148149e-03  5.20409730e+00]
 [ 3.16993711e-02  2.22004020e-03  9.99494983e-01  1.44071283e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.24650248099999
Centerline is valid?  [True, True]
Translation: X:44.78, Y:5.21, Z:1.44
[[ 9.99321331e-01 -1.88707776e-02 -3.16349534e-02  4.47816251e+01]
 [ 1.87851623e-02  9.99819038e-01 -3.00140475e-03  5.20556237e+00]
 [ 3.16858675e-02  2.40510006e-03  9.99494983e-01  1.44263065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.306502480999995
Centerline is valid?  [True, True]
Translation: X:44.84, Y:5.21, Z:1.44
[[ 9.99318180e-01 -1.90369505e-02 -3.16349355e-02  4.48441245e+01]
 [ 1.89514120e-02  9.99815900e-01 -3.00159380e-03  5.20709849e+00]
 [ 3.16862527e-02  2.40002055e-03  9.99494983e-01  1.44461348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.366502481
Centerline is valid?  [True, True]
Translation: X:44.90, Y:5.20, Z:1.45
[[ 9.99361853e-01 -1.65861543e-02 -3.16352120e-02  4.49044466e+01]
 [ 1.64994872e-02  9.99859378e-01 -2.99867617e-03  5.20308375e+00]
 [ 3.16804999e-02  2.47479779e-03  9.99494983e-01  1.44650988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 44.42650248099999
Centerline is valid?  [True, True]
Translation: X:44.97, Y:5.21, Z:1.45
[[ 9.99389896e-01 -1.48003139e-02 -3.16352120e-02  4.49665254e+01]
 [ 1.47127579e-02  9.99887265e-01 -2.99867617e-03  5.20663550e+00]
 [ 3.16760270e-02  2.53140545e-03  9.99494983e-01  1.44848540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.486502480999995
Centerline is valid?  [True, True]
Translation: X:45.03, Y:5.21, Z:1.45
[[ 9.99413892e-01 -1.30793511e-02 -3.16354677e-02  4.50279561e+01]
 [ 1.29910236e-02  9.99911125e-01 -2.99597675e-03  5.20689619e+00]
 [ 3.16718415e-02  2.58324368e-03  9.99494983e-01  1.45042982e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.546502481
Centerline is valid?  [True, True]
Translation: X:45.09, Y:5.21, Z:1.45
[[ 9.99387684e-01 -1.49479857e-02 -3.16356558e-02  4.50900965e+01]
 [ 1.48606507e-02  9.99885092e-01 -2.99398888e-03  5.20930325e+00]
 [ 3.16767747e-02  2.52202919e-03  9.99494983e-01  1.45240335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.60650248099999
Centerline is valid?  [True, True]
Translation: X:45.15, Y:5.21, Z:1.45
[[ 9.99372994e-01 -1.58992392e-02 -3.16359388e-02  4.51513638e+01]
 [ 1.58124719e-02  9.99870501e-01 -2.99099536e-03  5.20676229e+00]
 [ 3.16793966e-02  2.48887760e-03  9.99494983e-01  1.45433420e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.666502480999995
Centerline is valid?  [True, True]
Translation: X:45.21, Y:5.20, Z:1.46
[[ 9.99380883e-01 -1.53953324e-02 -3.16359614e-02  4.52121982e+01]
 [ 1.53083217e-02  9.99878348e-01 -2.99075645e-03  5.20417508e+00]
 [ 3.16781565e-02  2.50461135e-03  9.99494983e-01  1.45625192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.726502481
Centerline is valid?  [True, True]
Translation: X:45.27, Y:5.20, Z:1.46
[[ 9.99360593e-01 -1.66603175e-02 -3.16360311e-02  4.52740720e+01]
 [ 1.65739598e-02  9.99858172e-01 -2.99001957e-03  5.20385321e+00]
 [ 3.16813588e-02  2.46377342e-03  9.99494983e-01  1.45820921e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.78650248099999
Centerline is valid?  [True, True]
Translation: X:45.33, Y:5.20, Z:1.46
[[ 9.99435518e-01 -1.13047718e-02 -3.16361691e-02  4.53338151e+01]
 [ 1.12157949e-02  9.99932635e-01 -2.98855793e-03  5.19951688e+00]
 [ 3.16678229e-02  2.63204616e-03  9.99494983e-01  1.46008690e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.846502480999995
Centerline is valid?  [True, True]
Translation: X:45.39, Y:5.21, Z:1.46
[[ 9.99283747e-01 -2.07641508e-02 -3.16360997e-02  4.53939505e+01]
 [ 2.06798600e-02  9.99781680e-01 -2.98929226e-03  5.20824831e+00]
 [ 3.16912631e-02  2.33292106e-03  9.99494983e-01  1.46201659e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.906502481
Centerline is valid?  [True, True]
Translation: X:45.45, Y:5.19, Z:1.46
[[ 9.99454460e-01 -9.48351085e-03 -3.16361559e-02  4.54549707e+01]
 [ 9.39362378e-03  9.99951413e-01 -2.98869742e-03  5.19419801e+00]
 [ 3.16629622e-02  2.68988881e-03  9.99494983e-01  1.46390586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.96650248099999
Centerline is valid?  [True, True]
Translation: X:45.52, Y:5.19, Z:1.47
[[ 9.99458353e-01 -9.06361056e-03 -3.16362313e-02  4.55168774e+01]
 [ 8.97353978e-03  9.99955273e-01 -2.98789946e-03  5.19452284e+00]
 [ 3.16618975e-02  2.70239210e-03  9.99494983e-01  1.46586614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.026502480999994
Centerline is valid?  [True, True]
Translation: X:45.58, Y:5.20, Z:1.47
[[ 9.99470551e-01 -7.59988148e-03 -3.16363721e-02  4.55786184e+01]
 [ 7.50912990e-03  9.99967347e-01 -2.98640826e-03  5.19563312e+00]
 [ 3.16580354e-02  2.74726548e-03  9.99494983e-01  1.46782340e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.086502481
Centerline is valid?  [True, True]
Translation: X:45.64, Y:5.20, Z:1.47
[[ 9.99433282e-01 -1.14997868e-02 -3.16365100e-02  4.56391478e+01]
 [ 1.14110203e-02  9.99930437e-01 -2.98494599e-03  5.19744121e+00]
 [ 3.16686355e-02  2.62224951e-03  9.99494983e-01  1.46974441e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.14650248099999
Centerline is valid?  [True, True]
Translation: X:45.70, Y:5.20, Z:1.47
[[ 9.99411587e-01 -1.32518217e-02 -3.16365067e-02  4.57006176e+01]
 [ 1.31639258e-02  9.99908896e-01 -2.98498143e-03  5.19850142e+00]
 [ 3.16731809e-02  2.56676441e-03  9.99494983e-01  1.47169326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.206502480999994
Centerline is valid?  [True, True]
Translation: X:45.76, Y:5.20, Z:1.47
[[ 9.99347138e-01 -1.74475411e-02 -3.16367067e-02  4.57613847e+01]
 [ 1.73618007e-02  9.99844823e-01 -2.98286015e-03  5.19883231e+00]
 [ 3.16838410e-02  2.43164256e-03  9.99494983e-01  1.47361728e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.266502480999996
Centerline is valid?  [True, True]
Translation: X:45.82, Y:5.19, Z:1.48
[[ 9.99333030e-01 -1.82377200e-02 -3.16367067e-02  4.58217126e+01]
 [ 1.81523731e-02  9.99830783e-01 -2.98286015e-03  5.19326187e+00]
 [ 3.16857538e-02  2.40658937e-03  9.99494983e-01  1.47551019e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.32650248099999
Centerline is valid?  [True, True]
Translation: X:45.88, Y:5.19, Z:1.48
[[ 9.99400690e-01 -1.40492249e-02 -3.16366830e-02  4.58835975e+01]
 [ 1.39617847e-02  9.99898080e-01 -2.98311126e-03  5.18826047e+00]
 [ 3.16753690e-02  2.53961890e-03  9.99494983e-01  1.47745413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.386502480999994
Centerline is valid?  [True, True]
Translation: X:45.94, Y:5.18, Z:1.48
[[ 9.99464215e-01 -8.39044468e-03 -3.16367512e-02  4.59443395e+01]
 [ 8.30021239e-03  9.99961105e-01 -2.98238850e-03  5.18159346e+00]
 [ 3.16605442e-02  2.71819883e-03  9.99494983e-01  1.47935677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.446502480999996
Centerline is valid?  [True, True]
Translation: X:46.01, Y:5.18, Z:1.48
[[ 9.99491736e-01 -3.92275491e-03 -3.16367247e-02  4.60055672e+01]
 [ 3.83029361e-03  9.99988216e-01 -2.98266875e-03  5.17733223e+00]
 [ 3.16480522e-02  2.85997482e-03  9.99494983e-01  1.48128212e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.50650248099999
Centerline is valid?  [True, True]
Translation: X:46.07, Y:5.17, Z:1.48
[[ 9.99499112e-01  8.00911361e-04 -3.16367356e-02  4.60657853e+01]
 [-8.95714394e-04  9.99995151e-01 -2.98255377e-03  5.17375732e+00]
 [ 3.16341934e-02  3.00939733e-03  9.99494983e-01  1.48317750e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.56650248099999
Centerline is valid?  [True, True]
Translation: X:46.13, Y:5.17, Z:1.49
[[ 9.99496114e-01  2.57645482e-03 -3.16366779e-02  4.61272294e+01]
 [-2.67215806e-03  9.99991980e-01 -2.98316507e-03  5.16707266e+00]
 [ 3.16287382e-02  3.06620010e-03  9.99494983e-01  1.48510250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 45.626502480999996
Centerline is valid?  [True, True]
Translation: X:46.19, Y:5.17, Z:1.49
[[ 9.99499416e-01  1.93290643e-04 -3.16366779e-02  4.61875732e+01]
 [-2.87811281e-04  9.99995509e-01 -2.98316507e-03  5.17232192e+00]
 [ 3.16359592e-02  2.99077714e-03  9.99494983e-01  1.48702821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.68650248099999
Centerline is valid?  [True, True]
Translation: X:46.25, Y:5.17, Z:1.49
[[ 9.99498186e-01  1.58118524e-03 -3.16366097e-02  4.62472530e+01]
 [-1.67641733e-03  9.99994143e-01 -2.98388832e-03  5.16744505e+00]
 [ 3.16317063e-02  3.03542713e-03  9.99494983e-01  1.48890276e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.74650248099999
Centerline is valid?  [True, True]
Translation: X:46.31, Y:5.17, Z:1.49
[[ 9.99499135e-01  7.75838282e-04 -3.16366389e-02  4.63066980e+01]
 [-8.70661038e-04  9.99995170e-01 -2.98357926e-03  5.16880623e+00]
 [ 3.16341713e-02  3.00962968e-03  9.99494983e-01  1.49078838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.806502480999995
Centerline is valid?  [True, True]
Translation: X:46.37, Y:5.17, Z:1.49
[[ 9.99499438e-01 -6.47588310e-05 -3.16365045e-02  4.63669081e+01]
 [-2.96913734e-05  9.99995544e-01 -2.98500276e-03  5.16970073e+00]
 [ 3.16365569e-02  2.98444792e-03  9.99494983e-01  1.49269700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.866502481
Centerline is valid?  [True, True]
Translation: X:46.43, Y:5.16, Z:1.49
[[ 9.99487181e-01 -4.95091678e-03 -3.16364372e-02  4.64283123e+01]
 [ 4.85887057e-03  9.99983738e-01 -2.98571597e-03  5.16280454e+00]
 [ 3.16507048e-02  2.83046748e-03  9.99494983e-01  1.49462006e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.92650248099999
Centerline is valid?  [True, True]
Translation: X:46.49, Y:5.16, Z:1.50
[[ 9.99491751e-01 -3.92164310e-03 -3.16363800e-02  4.64878144e+01]
 [ 3.82906655e-03  9.99988210e-01 -2.98632250e-03  5.16182502e+00]
 [ 3.16477183e-02  2.86366690e-03  9.99494983e-01  1.49650057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.986502480999995
Centerline is valid?  [True, True]
Translation: X:46.55, Y:5.16, Z:1.50
[[ 9.99444297e-01 -1.04994525e-02 -3.16363377e-02  4.65490158e+01]
 [ 1.04101312e-02  9.99941352e-01 -2.98677038e-03  5.15574095e+00]
 [ 3.16658418e-02  2.65577220e-03  9.99494983e-01  1.49841960e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.046502481
Centerline is valid?  [True, True]
Translation: X:46.61, Y:5.15, Z:1.50
[[ 9.99428411e-01 -1.19159502e-02 -3.16363790e-02  4.66102956e+01]
 [ 1.18273473e-02  9.99925595e-01 -2.98633258e-03  5.14874334e+00]
 [ 3.16696101e-02  2.61045118e-03  9.99494983e-01  1.50033831e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.10650248099999
Centerline is valid?  [True, True]
Translation: X:46.67, Y:5.16, Z:1.50
[[ 9.99276186e-01 -2.11244769e-02 -3.16363790e-02  4.66699001e+01]
 [ 2.10404589e-02  9.99774165e-01 -2.98633258e-03  5.16186570e+00]
 [ 3.16923191e-02  2.31852710e-03  9.99494983e-01  1.50226414e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.166502480999995
Centerline is valid?  [True, True]
Translation: X:46.73, Y:5.15, Z:1.50
[[ 9.99492432e-01 -3.74401106e-03 -3.16363866e-02  4.67307688e+01]
 [ 3.65134849e-03  9.99988875e-01 -2.98625225e-03  5.15106984e+00]
 [ 3.16472152e-02  2.86922105e-03  9.99494983e-01  1.50415852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.226502481
Centerline is valid?  [True, True]
Translation: X:46.79, Y:5.15, Z:1.51
[[ 9.99476913e-01  6.71144762e-03 -3.16363336e-02  4.67915738e+01]
 [-6.80931580e-03  9.99972356e-01 -2.98681414e-03  5.14692712e+00]
 [ 3.16154132e-02  3.20067356e-03  9.99494983e-01  1.50607078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.28650248099999
Centerline is valid?  [True, True]
Translation: X:46.85, Y:5.15, Z:1.51
[[ 9.99371598e-01  1.59859952e-02 -3.16363121e-02  4.68507483e+01]
 [-1.60884638e-02  9.99866110e-01 -2.98704096e-03  5.14760782e+00]
 [ 3.15843256e-02  3.49414356e-03  9.99494983e-01  1.50794583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.346502480999995
Centerline is valid?  [True, True]
Translation: X:46.91, Y:5.14, Z:1.51
[[ 9.99138841e-01  2.68460786e-02 -3.16364440e-02  4.69117847e+01]
 [-2.69538719e-02  9.99632220e-01 -2.98564416e-03  5.14199262e+00]
 [ 3.15446559e-02  3.83579770e-03  9.99494983e-01  1.50986096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.406502481
Centerline is valid?  [True, True]
Translation: X:46.97, Y:5.14, Z:1.51
[[ 9.99105952e-01  2.80434123e-02 -3.16364194e-02  4.69728718e+01]
 [-2.81518049e-02  9.99599200e-01 -2.98590395e-03  5.13871976e+00]
 [ 3.15400046e-02  3.87385671e-03  9.99494983e-01  1.51178475e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.46650248099999
Centerline is valid?  [True, True]
Translation: X:47.03, Y:5.13, Z:1.51
[[ 9.99158266e-01  2.61131442e-02 -3.16364194e-02  4.70332835e+01]
 [-2.62205837e-02  9.99651722e-01 -2.98590395e-03  5.13188468e+00]
 [ 3.15474298e-02  3.81291599e-03  9.99494983e-01  1.51367650e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.526502480999994
Centerline is valid?  [True, True]
Translation: X:47.09, Y:5.13, Z:1.52
[[ 9.99297245e-01  2.01036554e-02 -3.16363488e-02  4.70929630e+01]
 [-2.02081486e-02  9.99791334e-01 -2.98665179e-03  5.13150743e+00]
 [ 3.15697048e-02  3.62386494e-03  9.99494983e-01  1.51556437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.586502481
Centerline is valid?  [True, True]
Translation: X:47.16, Y:5.12, Z:1.52
[[ 9.99389585e-01  1.48190128e-02 -3.16362832e-02  4.71556307e+01]
 [-1.49209134e-02  9.99884214e-01 -2.98734691e-03  5.11727370e+00]
 [ 3.15883506e-02  3.45756563e-03  9.99494983e-01  1.51750540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.64650248099999
Centerline is valid?  [True, True]
Translation: X:47.22, Y:5.12, Z:1.52
[[ 9.99499435e-01 -1.43073438e-04 -3.16363569e-02  4.72162732e+01]
 [ 4.86130545e-05  9.99995539e-01 -2.98656635e-03  5.11623414e+00]
 [ 3.16366431e-02  2.98353344e-03  9.99494983e-01  1.51942179e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.706502480999994
Centerline is valid?  [True, True]
Translation: X:47.28, Y:5.11, Z:1.52
[[ 9.99458675e-01 -9.02746393e-03 -3.16363883e-02  4.72772306e+01]
 [ 8.93742753e-03  9.99955601e-01 -2.98623359e-03  5.11217349e+00]
 [ 3.16619418e-02  2.70186914e-03  9.99494983e-01  1.52133912e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.766502480999996
Centerline is valid?  [True, True]
Translation: X:47.34, Y:5.11, Z:1.52
[[ 9.99430220e-01 -1.17633036e-02 -3.16363788e-02  4.73367076e+01]
 [ 1.16746246e-02  9.99927390e-01 -2.98633463e-03  5.10631986e+00]
 [ 3.16692108e-02  2.61529023e-03  9.99494983e-01  1.52320421e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 46.82650248099999
Centerline is valid?  [True, True]
Translation: X:47.40, Y:5.10, Z:1.53
[[ 9.99383019e-01 -1.52556522e-02 -3.16361695e-02  4.73970732e+01]
 [ 1.51686414e-02  9.99880483e-01 -2.98855003e-03  5.10421436e+00]
 [ 3.16779807e-02  2.50682844e-03  9.99494983e-01  1.52510850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.886502480999994
Centerline is valid?  [True, True]
Translation: X:47.46, Y:5.10, Z:1.53
[[ 9.99414440e-01 -1.30359204e-02 -3.16361008e-02  4.74558374e+01]
 [ 1.29477821e-02  9.99911706e-01 -2.98927690e-03  5.10299866e+00]
 [ 3.16722755e-02  2.57790916e-03  9.99494983e-01  1.52696482e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.946502480999996
Centerline is valid?  [True, True]
Translation: X:47.52, Y:5.10, Z:1.53
[[ 9.99456766e-01 -9.23816997e-03 -3.16358985e-02  4.75170995e+01]
 [ 9.14807549e-03  9.99953681e-01 -2.99141602e-03  5.09940759e+00]
 [ 3.16620684e-02  2.70038340e-03  9.99494983e-01  1.52889299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.00650248099999
Centerline is valid?  [True, True]
Translation: X:47.58, Y:5.10, Z:1.53
[[ 9.99451944e-01 -9.74584862e-03 -3.16358904e-02  4.75773924e+01]
 [ 9.65600384e-03  9.99948905e-01 -2.99150256e-03  5.09753912e+00]
 [ 3.16634286e-02  2.68438677e-03  9.99494983e-01  1.53079578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.06650248099999
Centerline is valid?  [True, True]
Translation: X:47.64, Y:5.09, Z:1.53
[[ 9.99436079e-01 -1.12562153e-02 -3.16357571e-02  4.76378926e+01]
 [ 1.11670773e-02  9.99933167e-01 -2.99291151e-03  5.09404272e+00]
 [ 3.16673316e-02  2.63794480e-03  9.99494983e-01  1.53270012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.126502480999996
Centerline is valid?  [True, True]
Translation: X:47.70, Y:5.09, Z:1.53
[[ 9.99360147e-01 -1.66876893e-02 -3.16356917e-02  4.76983106e+01]
 [ 1.66012324e-02  9.99857709e-01 -2.99360202e-03  5.09095537e+00]
 [ 3.16811465e-02  2.46649509e-03  9.99494983e-01  1.53460314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.18650248099999
Centerline is valid?  [True, True]
Translation: X:47.76, Y:5.09, Z:1.54
[[ 9.99177528e-01 -2.53663472e-02 -3.16356739e-02  4.77599099e+01]
 [ 2.52842089e-02  9.99675820e-01 -2.99379061e-03  5.08519643e+00]
 [ 3.17013598e-02  2.19144532e-03  9.99494983e-01  1.53653559e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.24650248099999
Centerline is valid?  [True, True]
Translation: X:47.82, Y:5.08, Z:1.54
[[ 9.99080781e-01 -2.89271107e-02 -3.16356522e-02  4.78194548e+01]
 [ 2.88467416e-02  9.99579362e-01 -2.99401986e-03  5.08095950e+00]
 [ 3.17089534e-02  2.07868222e-03  9.99494983e-01  1.53840757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.306502480999995
Centerline is valid?  [True, True]
Translation: X:47.88, Y:5.08, Z:1.54
[[ 9.99074467e-01 -2.91445017e-02 -3.16355277e-02  4.78773876e+01]
 [ 2.90641996e-02  9.99573059e-01 -2.99533489e-03  5.07661616e+00]
 [ 3.17093187e-02  2.07310131e-03  9.99494983e-01  1.54022805e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.366502481
Centerline is valid?  [True, True]
Translation: X:47.94, Y:5.07, Z:1.54
[[ 9.99178447e-01 -2.53309781e-02 -3.16349744e-02  4.79384980e+01]
 [ 2.52485897e-02  9.99676699e-01 -3.00116673e-03  5.07230883e+00]
 [ 3.17007693e-02  2.19996263e-03  9.99494983e-01  1.54214852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.42650248099999
Centerline is valid?  [True, True]
Translation: X:48.00, Y:5.07, Z:1.54
[[ 9.99265953e-01 -2.16051804e-02 -3.16349744e-02  4.79990001e+01]
 [ 2.15209348e-02  9.99763893e-01 -3.00116673e-03  5.06623497e+00]
 [ 3.16923459e-02  2.31814951e-03  9.99494983e-01  1.54404524e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.486502480999995
Centerline is valid?  [True, True]
Translation: X:48.06, Y:5.06, Z:1.55
[[ 9.99362736e-01 -1.65335053e-02 -3.16348725e-02  4.80606293e+01]
 [ 1.64466999e-02  9.99860237e-01 -3.00224026e-03  5.05508851e+00]
 [ 3.16800887e-02  2.48003779e-03  9.99494983e-01  1.54596220e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.546502481
Centerline is valid?  [True, True]
Translation: X:48.12, Y:5.05, Z:1.55
[[ 9.99423157e-01 -1.23528544e-02 -3.16347970e-02  4.81216233e+01]
 [ 1.22639436e-02  9.99920286e-01 -3.00303555e-03  5.04891061e+00]
 [ 3.16693713e-02  2.61333590e-03  9.99494983e-01  1.54787401e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.60650248099999
Centerline is valid?  [True, True]
Translation: X:48.18, Y:5.04, Z:1.55
[[ 9.99451411e-01 -9.80393618e-03 -3.16347957e-02  4.81814795e+01]
 [ 9.71375742e-03  9.99948311e-01 -3.00304979e-03  5.04269893e+00]
 [ 3.16626022e-02  2.69410962e-03  9.99494983e-01  1.54974984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.666502480999995
Centerline is valid?  [True, True]
Translation: X:48.24, Y:5.04, Z:1.55
[[ 9.99461071e-01 -8.76443797e-03 -3.16346652e-02  4.82418558e+01]
 [ 8.67369929e-03  9.99957869e-01 -3.00442362e-03  5.03935985e+00]
 [ 3.16596645e-02  2.72841487e-03  9.99494983e-01  1.55165048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.726502481
Centerline is valid?  [True, True]
Translation: X:48.30, Y:5.03, Z:1.55
[[ 9.99460593e-01 -8.81903942e-03 -3.16345961e-02  4.83009830e+01]
 [ 8.72830501e-03  9.99957392e-01 -3.00515157e-03  5.03276607e+00]
 [ 3.16597507e-02  2.72741417e-03  9.99494983e-01  1.55350191e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.78650248099999
Centerline is valid?  [True, True]
Translation: X:48.36, Y:5.03, Z:1.56
[[ 9.99445200e-01 -1.04199867e-02 -3.16341037e-02  4.83599904e+01]
 [ 1.03298856e-02  9.99942114e-01 -3.01032564e-03  5.03191513e+00]
 [ 3.16636401e-02  2.68187884e-03  9.99494983e-01  1.55536580e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.846502480999995
Centerline is valid?  [True, True]
Translation: X:48.42, Y:5.03, Z:1.56
[[ 9.99384638e-01 -1.51540693e-02 -3.16338292e-02  4.84191325e+01]
 [ 1.50662324e-02  9.99881958e-01 -3.01320722e-03  5.02928908e+00]
 [ 3.16757574e-02  2.53475038e-03  9.99494983e-01  1.55722907e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.906502481
Centerline is valid?  [True, True]
Translation: X:48.48, Y:5.03, Z:1.56
[[ 9.99320474e-01 -1.89183204e-02 -3.16336447e-02  4.84788595e+01]
 [ 1.88322964e-02  9.99818110e-01 -3.01514347e-03  5.02983409e+00]
 [ 3.16849323e-02  2.41736043e-03  9.99494983e-01  1.55912060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.96650248099999
Centerline is valid?  [True, True]
Translation: X:48.54, Y:5.03, Z:1.56
[[ 9.99148802e-01 -2.64762611e-02 -3.16335101e-02  4.85391227e+01]
 [ 2.63939590e-02  9.99647067e-01 -3.01655398e-03  5.03058514e+00]
 [ 3.17022127e-02  2.17905272e-03  9.99494983e-01  1.56102983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 48.026502480999994
Centerline is valid?  [True, True]
Translation: X:48.60, Y:5.03, Z:1.56
[[ 9.99104751e-01 -2.80894796e-02 -3.16334982e-02  4.85997079e+01]
 [ 2.80079783e-02  9.99603148e-01 -3.01667893e-03  5.02914584e+00]
 [ 3.17056813e-02  2.12798792e-03  9.99494983e-01  1.56294294e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.086502481
Centerline is valid?  [True, True]
Translation: X:48.66, Y:5.03, Z:1.56
[[ 9.98992450e-01 -3.18341047e-02 -3.16334309e-02  4.86596216e+01]
 [ 3.17544497e-02  9.99491146e-01 -3.01738431e-03  5.02664038e+00]
 [ 3.17133899e-02  2.00984196e-03  9.99494983e-01  1.56483143e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.14650248099999
Centerline is valid?  [True, True]
Translation: X:48.72, Y:5.02, Z:1.57
[[ 9.98923126e-01 -3.39399440e-02 -3.16333536e-02  4.87193420e+01]
 [ 3.38613149e-02  9.99421984e-01 -3.01819549e-03  5.02478367e+00]
 [ 3.17175063e-02  1.94379833e-03  9.99494983e-01  1.56671573e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.206502480999994
Centerline is valid?  [True, True]
Translation: X:48.78, Y:5.03, Z:1.57
[[ 9.99058288e-01 -2.96971875e-02 -3.16325003e-02  4.87798226e+01]
 [ 2.96161594e-02  9.99556762e-01 -3.02711127e-03  5.02565020e+00]
 [ 3.17083763e-02  2.08742743e-03  9.99494983e-01  1.56863008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.266502480999996
Centerline is valid?  [True, True]
Translation: X:48.84, Y:5.03, Z:1.57
[[ 9.99259403e-01 -2.19096264e-02 -3.16324885e-02  4.88404224e+01]
 [ 2.18247118e-02  9.99757229e-01 -3.02723540e-03  5.02502764e+00]
 [ 3.16911346e-02  2.33462349e-03  9.99494983e-01  1.57054605e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.32650248099999
Centerline is valid?  [True, True]
Translation: X:48.90, Y:5.03, Z:1.57
[[ 9.99427057e-01 -1.20392600e-02 -3.16324829e-02  4.88996096e+01]
 [ 1.19494308e-02  9.99924020e-01 -3.02729308e-03  5.02631259e+00]
 [ 3.16665259e-02  2.64756844e-03  9.99494983e-01  1.57242311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.386502480999994
Centerline is valid?  [True, True]
Translation: X:48.96, Y:5.02, Z:1.57
[[ 9.99484459e-01 -5.49587179e-03 -3.16324565e-02  4.89602424e+01]
 [ 5.40278228e-03  9.99980822e-01 -3.02756971e-03  5.02280124e+00]
 [ 3.16484889e-02  2.85510559e-03  9.99494983e-01  1.57433133e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.446502480999996
Centerline is valid?  [True, True]
Translation: X:49.02, Y:5.02, Z:1.58
[[ 9.99476814e-01 -6.74466597e-03 -3.16323956e-02  4.90202702e+01]
 [ 6.65217673e-03  9.99973289e-01 -3.02820584e-03  5.01619510e+00]
 [ 3.16519749e-02  2.81619724e-03  9.99494983e-01  1.57621091e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.50650248099999
Centerline is valid?  [True, True]
Translation: X:49.08, Y:5.01, Z:1.58
[[ 9.99432353e-01 -1.15941095e-02 -3.16314508e-02  4.90820687e+01]
 [ 1.15037211e-02  9.99929215e-01 -3.03804281e-03  5.00922283e+00]
 [ 3.16644351e-02  2.67243888e-03  9.99494983e-01  1.57814247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.56650248099999
Centerline is valid?  [True, True]
Translation: X:49.14, Y:5.00, Z:1.58
[[ 9.99309034e-01 -1.95168921e-02 -3.16314001e-02  4.91425943e+01]
 [ 1.94304289e-02  9.99806594e-01 -3.03857073e-03  5.00311320e+00]
 [ 3.16845858e-02  2.42185951e-03  9.99494983e-01  1.58003921e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.626502480999996
Centerline is valid?  [True, True]
Translation: X:49.20, Y:4.99, Z:1.58
[[ 9.99180974e-01 -2.52355997e-02 -3.16313991e-02  4.92035300e+01]
 [ 2.51519851e-02  9.99679021e-01 -3.03858108e-03  4.99430474e+00]
 [ 3.16979265e-02  2.24049992e-03  9.99494983e-01  1.58194088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.68650248099999
Centerline is valid?  [True, True]
Translation: X:49.26, Y:4.99, Z:1.58
[[ 9.99126695e-01 -2.73003263e-02 -3.16313052e-02  4.92636572e+01]
 [ 2.72177103e-02  9.99624908e-01 -3.03955812e-03  4.98980845e+00]
 [ 3.17024215e-02  2.17597196e-03  9.99494983e-01  1.58382973e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.74650248099999
Centerline is valid?  [True, True]
Translation: X:49.32, Y:4.98, Z:1.59
[[ 9.99035347e-01 -3.04608629e-02 -3.16308441e-02  4.93241163e+01]
 [ 3.03796724e-02  9.99533795e-01 -3.04434919e-03  4.98497977e+00]
 [ 3.17088311e-02  2.08047777e-03  9.99494983e-01  1.58572666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.806502480999995
Centerline is valid?  [True, True]
Translation: X:49.38, Y:4.98, Z:1.59
[[ 9.98898093e-01 -3.46712885e-02 -3.16307071e-02  4.93849644e+01]
 [ 3.45921547e-02  9.99396871e-01 -3.04577168e-03  4.97820581e+00]
 [ 3.17172305e-02  1.94824121e-03  9.99494983e-01  1.58763114e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.86650248099999
Centerline is valid?  [True, True]
Translation: X:49.44, Y:4.98, Z:1.59
[[ 9.98901664e-01 -3.45682911e-02 -3.16306650e-02  4.94425904e+01]
 [ 3.44890921e-02  9.99400432e-01 -3.04620853e-03  4.98019649e+00]
 [ 3.17170025e-02  1.95194985e-03  9.99494983e-01  1.58946071e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.92650248099999
Centerline is valid?  [True, True]
Translation: X:49.50, Y:4.97, Z:1.59
[[ 9.99016144e-01 -3.10848181e-02 -3.16303221e-02  4.95042660e+01]
 [ 3.10037682e-02  9.99514615e-01 -3.04976480e-03  4.97220990e+00]
 [ 3.17097706e-02  2.06610509e-03  9.99494983e-01  1.59138679e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.986502480999995
Centerline is valid?  [True, True]
Translation: X:49.56, Y:4.96, Z:1.59
[[ 9.99192876e-01 -2.47612387e-02 -3.16303216e-02  4.95646652e+01]
 [ 2.46770353e-02  9.99690824e-01 -3.04977045e-03  4.96219409e+00]
 [ 3.16960583e-02  2.26676635e-03  9.99494983e-01  1.59326763e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.046502481
Centerline is valid?  [True, True]
Translation: X:49.62, Y:4.96, Z:1.60
[[ 9.99151266e-01 -2.63869672e-02 -3.16303027e-02  4.96241093e+01]
 [ 2.63035680e-02  9.99649349e-01 -3.04996665e-03  4.95861917e+00]
 [ 3.16996908e-02  2.21538823e-03  9.99494983e-01  1.59513783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.10650248099999
Centerline is valid?  [True, True]
Translation: X:49.68, Y:4.94, Z:1.60
[[ 9.99184794e-01 -2.50854515e-02 -3.16301738e-02  4.96847118e+01]
 [ 2.50013614e-02  9.99682760e-01 -3.05130234e-03  4.94472270e+00]
 [ 3.16966828e-02  2.25801749e-03  9.99494983e-01  1.59701268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.166502480999995
Centerline is valid?  [True, True]
Translation: X:49.74, Y:4.94, Z:1.60
[[ 9.99242479e-01 -2.26719696e-02 -3.16298995e-02  4.97431389e+01]
 [ 2.25865876e-02  9.99740225e-01 -3.05414322e-03  4.93919855e+00]
 [ 3.16909263e-02  2.33741814e-03  9.99494983e-01  1.59884352e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 49.226502481
Centerline is valid?  [True, True]
Translation: X:49.80, Y:4.93, Z:1.60
[[ 9.99300590e-01 -1.99474404e-02 -3.16295879e-02  4.98032459e+01]
 [ 1.98606001e-02  9.99798084e-01 -3.05736724e-03  4.93387004e+00]
 [ 3.16841880e-02  2.42704629e-03  9.99494983e-01  1.60072788e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.28650248099999
Centerline is valid?  [True, True]
Translation: X:49.87, Y:4.92, Z:1.60
[[ 9.99404878e-01 -1.37648278e-02 -3.16293965e-02  4.98652562e+01]
 [ 1.36748493e-02  9.99901815e-01 -3.05934519e-03  4.92499424e+00]
 [ 3.16684024e-02  2.62499727e-03  9.99494983e-01  1.60266213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.346502480999995
Centerline is valid?  [True, True]
Translation: X:49.92, Y:4.92, Z:1.60
[[ 9.99453104e-01 -9.64744734e-03 -3.16294016e-02  4.99249282e+01]
 [ 9.55542394e-03  9.99949666e-01 -3.05929340e-03  4.91932538e+00]
 [ 3.16573239e-02  2.75538795e-03  9.99494983e-01  1.60453315e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.406502481
Centerline is valid?  [True, True]
Translation: X:49.99, Y:4.91, Z:1.61
[[ 9.99499513e-01 -5.61780848e-04 -3.16292108e-02  4.99858974e+01]
 [ 4.65185592e-04  9.99995206e-01 -3.06126454e-03  4.91203691e+00]
 [ 3.16307789e-02  3.04501896e-03  9.99494983e-01  1.60643924e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.46650248099999
Centerline is valid?  [True, True]
Translation: X:50.05, Y:4.90, Z:1.61
[[ 9.99467475e-01  8.02268523e-03 -3.16291583e-02  5.00477933e+01]
 [-8.12355126e-03  9.99962316e-01 -3.06180630e-03  4.90051904e+00]
 [ 3.16034025e-02  3.31711690e-03  9.99494983e-01  1.60836239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.526502480999994
Centerline is valid?  [True, True]
Translation: X:50.11, Y:4.89, Z:1.61
[[ 9.99435353e-01  1.13389261e-02 -3.16291592e-02  5.01094631e+01]
 [-1.14414332e-02  9.99929857e-01 -3.06179719e-03  4.89291953e+00]
 [ 3.15922232e-02  3.42195127e-03  9.99494983e-01  1.61029066e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.586502481
Centerline is valid?  [True, True]
Translation: X:50.17, Y:4.88, Z:1.61
[[ 9.99437331e-01  1.11627224e-02 -3.16293312e-02  5.01729915e+01]
 [-1.12650867e-02  9.99931865e-01 -3.06001953e-03  4.88249633e+00]
 [ 3.15930180e-02  3.41460491e-03  9.99494983e-01  1.61227008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.64650248099999
Centerline is valid?  [True, True]
Translation: X:50.23, Y:4.87, Z:1.61
[[ 9.99467573e-01  8.00618106e-03 -3.16302252e-02  5.02341757e+01]
 [-8.10669285e-03  9.99962487e-01 -3.05075005e-03  4.87267107e+00]
 [ 3.16046138e-02  3.30554227e-03  9.99494983e-01  1.61418145e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.706502480999994
Centerline is valid?  [True, True]
Translation: X:50.30, Y:4.86, Z:1.62
[[ 9.99498976e-01  1.15134263e-03 -3.16302217e-02  5.02969395e+01]
 [-1.24845894e-03  9.99994567e-01 -3.05078664e-03  4.85850298e+00]
 [ 3.16265374e-02  3.08874715e-03  9.99494983e-01  1.61612441e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.766502480999996
Centerline is valid?  [True, True]
Translation: X:50.36, Y:4.85, Z:1.62
[[ 9.99476436e-01 -6.81011272e-03 -3.16302919e-02  5.03589135e+01]
 [ 6.71696991e-03  9.99972789e-01 -3.05005928e-03  4.84969127e+00]
 [ 3.16502024e-02  2.83600266e-03  9.99494983e-01  1.61805920e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.82650248099999
Centerline is valid?  [True, True]
Translation: X:50.42, Y:4.84, Z:1.62
[[ 9.99433748e-01 -1.14762954e-02 -3.16303259e-02  5.04199774e+01]
 [ 1.13854820e-02  9.99930533e-01 -3.04970595e-03  4.84092308e+00]
 [ 3.16631280e-02  2.68785255e-03  9.99494983e-01  1.61996511e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.886502480999994
Centerline is valid?  [True, True]
Translation: X:50.48, Y:4.83, Z:1.62
[[ 9.99346025e-01 -1.75227531e-02 -3.16302812e-02  5.04814918e+01]
 [ 1.74349324e-02  9.99843348e-01 -3.05017005e-03  4.83407012e+00]
 [ 3.16787736e-02  2.49670350e-03  9.99494983e-01  1.62189061e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.946502480999996
Centerline is valid?  [True, True]
Translation: X:50.54, Y:4.83, Z:1.62
[[ 9.99245011e-01 -2.25596822e-02 -3.16302020e-02  5.05429637e+01]
 [ 2.24743435e-02  9.99742765e-01 -3.05099052e-03  4.82870960e+00]
 [ 3.16908950e-02  2.33781902e-03  9.99494983e-01  1.62381908e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.00650248099999
Centerline is valid?  [True, True]
Translation: X:50.60, Y:4.82, Z:1.63
[[ 9.99096145e-01 -2.83976028e-02 -3.16301866e-02  5.06047278e+01]
 [ 2.83151688e-02  9.99594389e-01 -3.05115012e-03  4.81963922e+00]
 [ 3.17040024e-02  2.15277825e-03  9.99494983e-01  1.62574588e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.06650248099999
Centerline is valid?  [True, True]
Translation: X:50.67, Y:4.81, Z:1.63
[[ 9.98846192e-01 -3.61361081e-02 -3.16301622e-02  5.06672488e+01]
 [ 3.60575281e-02  9.99345057e-01 -3.05140381e-03  4.80573291e+00]
 [ 3.17197121e-02  1.90737761e-03  9.99494983e-01  1.62768181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.126502480999996
Centerline is valid?  [True, True]
Translation: X:50.73, Y:4.80, Z:1.63
[[ 9.98743424e-01 -3.88729130e-02 -3.16302121e-02  5.07273616e+01]
 [ 3.87957165e-02  9.99242505e-01 -3.05088606e-03  4.79600584e+00]
 [ 3.17248492e-02  1.81993565e-03  9.99494983e-01  1.62955481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.18650248099999
Centerline is valid?  [True, True]
Translation: X:50.79, Y:4.79, Z:1.63
[[ 9.98946881e-01 -3.32365337e-02 -3.16300849e-02  5.07881537e+01]
 [ 3.31564807e-02  9.99445512e-01 -3.05220439e-03  4.79367172e+00]
 [ 3.17139911e-02  2.00024776e-03  9.99494983e-01  1.63147060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.24650248099999
Centerline is valid?  [True, True]
Translation: X:50.85, Y:4.80, Z:1.63
[[ 9.99285659e-01 -2.06812304e-02 -3.16300265e-02  5.08473654e+01]
 [ 2.05948989e-02  9.99783242e-01 -3.05280965e-03  4.79687930e+00]
 [ 3.16863063e-02  2.39921171e-03  9.99494983e-01  1.63335379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.306502480999995
Centerline is valid?  [True, True]
Translation: X:50.91, Y:4.81, Z:1.64
[[ 9.99299282e-01 -2.00120948e-02 -3.16300552e-02  5.09060706e+01]
 [ 1.99254395e-02  9.99796809e-01 -3.05251175e-03  4.80527478e+00]
 [ 3.16847154e-02  2.42013005e-03  9.99494983e-01  1.63523743e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.36650248099999
Centerline is valid?  [True, True]
Translation: X:50.97, Y:4.81, Z:1.64
[[ 9.98921872e-01 -3.39801244e-02 -3.16297980e-02  5.09652059e+01]
 [ 3.39003489e-02  9.99420548e-01 -3.05517486e-03  4.81243222e+00]
 [ 3.17152853e-02  1.97961981e-03  9.99494983e-01  1.63712882e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 50.42650248099999
Centerline is valid?  [True, True]
Translation: X:51.03, Y:4.82, Z:1.64
[[ 9.98235652e-01 -5.02508101e-02 -3.16297218e-02  5.10250156e+01]
 [ 5.01791451e-02  9.98735558e-01 -3.05596325e-03  4.81797965e+00]
 [ 3.17432925e-02  1.46341907e-03  9.99494983e-01  1.63903796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.486502480999995
Centerline is valid?  [True, True]
Translation: X:51.08, Y:4.83, Z:1.64
[[ 9.98146647e-01 -5.19887764e-02 -3.16296926e-02  5.10824523e+01]
 [ 5.19179723e-02  9.98646676e-01 -3.05626578e-03  4.82503761e+00]
 [ 3.17457789e-02  1.40845193e-03  9.99494983e-01  1.64087695e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.54650248099999
Centerline is valid?  [True, True]
Translation: X:51.14, Y:4.83, Z:1.64
[[ 9.98186700e-01 -5.12141866e-02 -3.16293915e-02  5.11414550e+01]
 [ 5.11428961e-02  9.98686660e-01 -3.05937833e-03  4.83114214e+00]
 [ 3.17445349e-02  1.43621208e-03  9.99494983e-01  1.64276063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.60650248099999
Centerline is valid?  [True, True]
Translation: X:51.20, Y:4.84, Z:1.64
[[ 9.97852950e-01 -5.73508900e-02 -3.16285503e-02  5.12012249e+01]
 [ 5.72824005e-02  9.98353301e-01 -3.06804995e-03  4.83631999e+00]
 [ 3.17524230e-02  1.24970341e-03  9.99494983e-01  1.64466187e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.666502480999995
Centerline is valid?  [True, True]
Translation: X:51.26, Y:4.84, Z:1.65
[[ 9.97463847e-01 -6.37614263e-02 -3.16283790e-02  5.12609053e+01]
 [ 6.36960974e-02  9.97964620e-01 -3.06981517e-03  4.84138339e+00]
 [ 3.17597390e-02  1.04742534e-03  9.99494983e-01  1.64656474e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.726502481
Centerline is valid?  [True, True]
Translation: X:51.32, Y:4.85, Z:1.65
[[ 9.96618744e-01 -7.58335501e-02 -3.16283448e-02  5.13195806e+01]
 [ 7.57742779e-02  9.97120270e-01 -3.07016712e-03  4.84779008e+00]
 [ 3.17700854e-02  6.63171108e-04  9.99494983e-01  1.64844091e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.78650248099999
Centerline is valid?  [True, True]
Translation: X:51.38, Y:4.85, Z:1.65
[[ 9.96453931e-01 -7.79693409e-02 -3.16282272e-02  5.13788269e+01]
 [ 7.79111053e-02  9.96955579e-01 -3.07137881e-03  4.85358937e+00]
 [ 3.17714109e-02  5.96297348e-04  9.99494983e-01  1.65033269e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.846502480999995
Centerline is valid?  [True, True]
Translation: X:51.44, Y:4.86, Z:1.65
[[ 9.95861588e-01 -8.52018873e-02 -3.16281015e-02  5.14378535e+01]
 [ 8.51472543e-02  9.96363640e-01 -3.07267221e-03  4.85869125e+00]
 [ 3.17748878e-02  3.66910217e-04  9.99494983e-01  1.65221532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.906502481
Centerline is valid?  [True, True]
Translation: X:51.50, Y:4.86, Z:1.65
[[ 9.95102227e-01 -9.36548287e-02 -3.16279963e-02  5.14965779e+01]
 [ 9.36044262e-02  9.95604722e-01 -3.07375543e-03  4.86425612e+00]
 [ 3.17768545e-02  9.81804367e-05  9.99494983e-01  1.65408995e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.96650248099999
Centerline is valid?  [True, True]
Translation: X:51.56, Y:4.88, Z:1.66
[[ 9.94221526e-01 -1.02583042e-01 -3.16271418e-02  5.15550894e+01]
 [ 1.02536873e-01  9.94724428e-01 -3.08252279e-03  4.87500662e+00]
 [ 3.17765051e-02 -1.78237703e-04  9.99494983e-01  1.65596846e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.026502480999994
Centerline is valid?  [True, True]
Translation: X:51.61, Y:4.88, Z:1.66
[[ 9.92974786e-01 -1.14021291e-01 -3.16262475e-02  5.16138366e+01]
 [ 1.13980623e-01  9.93478162e-01 -3.09167029e-03  4.88421946e+00]
 [ 3.17725025e-02 -5.34828744e-04  9.99494983e-01  1.65784950e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.086502481
Centerline is valid?  [True, True]
Translation: X:51.67, Y:4.89, Z:1.66
[[ 9.91802251e-01 -1.23806847e-01 -3.16252868e-02  5.16725108e+01]
 [ 1.23770833e-01  9.92305982e-01 -3.10146660e-03  4.88690052e+00]
 [ 3.17659441e-02 -8.38246519e-04  9.99494984e-01  1.65970758e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.14650248099999
Centerline is valid?  [True, True]
Translation: X:51.73, Y:4.90, Z:1.66
[[ 9.90566301e-01 -1.33335118e-01 -3.16251515e-02  5.17316460e+01]
 [ 1.33303903e-01  9.91070352e-01 -3.10284547e-03  4.89733539e+00]
 [ 3.17564683e-02 -1.14218197e-03  9.99494984e-01  1.66161012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.206502480999994
Centerline is valid?  [True, True]
Translation: X:51.79, Y:4.91, Z:1.66
[[ 9.90094638e-01 -1.36793510e-01 -3.16250456e-02  5.17901931e+01]
 [ 1.36764022e-01  9.90598793e-01 -3.10392519e-03  4.90516210e+00]
 [ 3.17523288e-02 -1.25198872e-03  9.99494984e-01  1.66348618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.266502480999996
Centerline is valid?  [True, True]
Translation: X:51.85, Y:4.91, Z:1.67
[[ 9.90174350e-01 -1.36215350e-01 -3.16249090e-02  5.18500847e+01]
 [ 1.36185523e-01  9.90678485e-01 -3.10531537e-03  4.90902253e+00]
 [ 3.17531086e-02 -1.23205115e-03  9.99494984e-01  1.66539224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.32650248099999
Centerline is valid?  [True, True]
Translation: X:51.91, Y:4.92, Z:1.67
[[ 9.90616284e-01 -1.32963331e-01 -3.16248449e-02  5.19089635e+01]
 [ 1.32931827e-01  9.91120317e-01 -3.10596902e-03  4.91790209e+00]
 [ 3.17570062e-02 -1.12712492e-03  9.99494984e-01  1.66728236e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.386502480999994
Centerline is valid?  [True, True]
Translation: X:51.97, Y:4.92, Z:1.67
[[ 9.91234373e-01 -1.28274297e-01 -3.16247183e-02  5.19687208e+01]
 [ 1.28240368e-01  9.91738248e-01 -3.10725702e-03  4.92410322e+00]
 [ 3.17620239e-02 -9.75545539e-04  9.99494984e-01  1.66919151e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.446502480999996
Centerline is valid?  [True, True]
Translation: X:52.03, Y:4.93, Z:1.67
[[ 9.91615848e-01 -1.25291236e-01 -3.16246220e-02  5.20273142e+01]
 [ 1.25255760e-01  9.92119617e-01 -3.10823657e-03  4.93147400e+00]
 [ 3.17648427e-02 -8.78989414e-04  9.99494984e-01  1.67106769e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.50650248099999
Centerline is valid?  [True, True]
Translation: X:52.08, Y:4.94, Z:1.67
[[ 9.91881910e-01 -1.23167431e-01 -3.16237476e-02  5.20844827e+01]
 [ 1.23130593e-01  9.92385581e-01 -3.11710807e-03  4.93622285e+00]
 [ 3.17668773e-02 -8.02047684e-04  9.99494984e-01  1.67288522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.56650248099999
Centerline is valid?  [True, True]
Translation: X:52.14, Y:4.94, Z:1.67
[[ 9.92191921e-01 -1.20644745e-01 -3.16233801e-02  5.21437431e+01]
 [ 1.20606508e-01  9.92695487e-01 -3.12083144e-03  4.94242362e+00]
 [ 3.17688987e-02 -7.17521721e-04  9.99494984e-01  1.67477699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 51.626502480999996
Centerline is valid?  [True, True]
Translation: X:52.20, Y:4.95, Z:1.68
[[ 9.91990451e-01 -1.22290273e-01 -3.16233035e-02  5.22036743e+01]
 [ 1.22252847e-01  9.92494079e-01 -3.12160807e-03  4.95005840e+00]
 [ 3.17676838e-02 -7.69433472e-04  9.99494984e-01  1.67669649e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.68650248099999
Centerline is valid?  [True, True]
Translation: X:52.26, Y:4.96, Z:1.68
[[ 9.91219526e-01 -1.28389323e-01 -3.16232838e-02  5.22629430e+01]
 [ 1.28354989e-01  9.91723374e-01 -3.12180759e-03  4.95979921e+00]
 [ 3.17623564e-02 -9.64609586e-04  9.99494984e-01  1.67860199e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.74650248099999
Centerline is valid?  [True, True]
Translation: X:52.32, Y:4.96, Z:1.68
[[ 9.91426874e-01 -1.26778263e-01 -3.16231737e-02  5.23221405e+01]
 [ 1.26743074e-01  9.91930663e-01 -3.12292216e-03  4.96231929e+00]
 [ 3.17639143e-02 -9.11869287e-04  9.99494984e-01  1.68048207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.806502480999995
Centerline is valid?  [True, True]
Translation: X:52.38, Y:4.97, Z:1.68
[[ 9.91400451e-01 -1.26984761e-01 -3.16230403e-02  5.23801198e+01]
 [ 1.26949634e-01  9.91904244e-01 -3.12427227e-03  4.97238215e+00]
 [ 3.17637629e-02 -9.17128448e-04  9.99494984e-01  1.68234701e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.86650248099999
Centerline is valid?  [True, True]
Translation: X:52.44, Y:4.97, Z:1.68
[[ 9.91833125e-01 -1.23560081e-01 -3.16221285e-02  5.24390024e+01]
 [ 1.23522921e-01  9.92336772e-01 -3.13347424e-03  4.97471977e+00]
 [ 3.17669732e-02 -7.98174137e-04  9.99494984e-01  1.68421102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.92650248099999
Centerline is valid?  [True, True]
Translation: X:52.50, Y:4.98, Z:1.69
[[ 9.92253262e-01 -1.20139576e-01 -3.16219366e-02  5.24975302e+01]
 [ 1.20100618e-01  9.92756773e-01 -3.13540904e-03  4.98377600e+00]
 [ 3.17695785e-02 -6.86694295e-04  9.99494984e-01  1.68608981e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.986502480999995
Centerline is valid?  [True, True]
Translation: X:52.56, Y:4.99, Z:1.69
[[ 9.92421004e-01 -1.18746203e-01 -3.16210293e-02  5.25559162e+01]
 [ 1.18706248e-01  9.92924438e-01 -3.14453340e-03  4.98969128e+00]
 [ 3.17706941e-02 -6.32912747e-04  9.99494984e-01  1.68794937e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.04650248099999
Centerline is valid?  [True, True]
Translation: X:52.62, Y:4.99, Z:1.69
[[ 9.92837508e-01 -1.15212192e-01 -3.16201306e-02  5.26151641e+01]
 [ 1.15170158e-01  9.93340772e-01 -3.15354404e-03  4.99204545e+00]
 [ 3.17728917e-02 -5.10738638e-04  9.99494984e-01  1.68982504e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.10650248099999
Centerline is valid?  [True, True]
Translation: X:52.67, Y:4.99, Z:1.69
[[ 9.93151002e-01 -1.12477838e-01 -3.16199975e-02  5.26744453e+01]
 [ 1.12434375e-01  9.93654144e-01 -3.15487801e-03  4.99444492e+00]
 [ 3.17741954e-02 -4.21904406e-04  9.99494984e-01  1.69170712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.166502480999995
Centerline is valid?  [True, True]
Translation: X:52.73, Y:5.00, Z:1.69
[[ 9.93519564e-01 -1.09174667e-01 -3.16190955e-02  5.27328222e+01]
 [ 1.09129245e-01  9.94022534e-01 -3.16389308e-03  5.00157055e+00]
 [ 3.17755104e-02 -3.07178337e-04  9.99494984e-01  1.69357024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.22650248099999
Centerline is valid?  [True, True]
Translation: X:52.79, Y:5.00, Z:1.70
[[ 9.93406118e-01 -1.10202426e-01 -3.16181936e-02  5.27904874e+01]
 [ 1.10157238e-01  9.93909108e-01 -3.17287995e-03  5.00497509e+00]
 [ 3.17752697e-02 -3.31014532e-04  9.99494984e-01  1.69539907e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.28650248099999
Centerline is valid?  [True, True]
Translation: X:52.85, Y:5.01, Z:1.70
[[ 9.93500961e-01 -1.09344230e-01 -3.16177298e-02  5.28498277e+01]
 [ 1.09298461e-01  9.94003898e-01 -3.17749495e-03  5.00971857e+00]
 [ 3.17755874e-02 -2.98924914e-04  9.99494984e-01  1.69728812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.346502480999995
Centerline is valid?  [True, True]
Translation: X:52.91, Y:5.02, Z:1.70
[[ 9.93416077e-01 -1.10112784e-01 -3.16176060e-02  5.29094990e+01]
 [ 1.10067365e-01  9.93919046e-01 -3.17872640e-03  5.01690276e+00]
 [ 3.17753592e-02 -3.22268673e-04  9.99494984e-01  1.69919774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.406502481
Centerline is valid?  [True, True]
Translation: X:52.97, Y:5.02, Z:1.70
[[ 9.92789202e-01 -1.15628422e-01 -3.16175415e-02  5.29673422e+01]
 [ 1.15585776e-01  9.93292414e-01 -3.17936836e-03  5.02487076e+00]
 [ 3.17730894e-02 -4.98095489e-04  9.99494984e-01  1.70105243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.46650248099999
Centerline is valid?  [True, True]
Translation: X:53.03, Y:5.03, Z:1.70
[[ 9.92119980e-01 -1.21236529e-01 -3.16172454e-02  5.30264978e+01]
 [ 1.21196634e-01  9.92623417e-01 -3.18230964e-03  5.02832595e+00]
 [ 3.17698304e-02 -6.74670735e-04  9.99494984e-01  1.70293269e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.526502480999994
Centerline is valid?  [True, True]
Translation: X:53.09, Y:5.04, Z:1.70
[[ 9.91965360e-01 -1.22495441e-01 -3.16163308e-02  5.30852143e+01]
 [ 1.22455896e-01  9.92468825e-01 -3.19137087e-03  5.03677302e+00]
 [ 3.17691510e-02 -7.05876766e-04  9.99494984e-01  1.70481074e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.586502481
Centerline is valid?  [True, True]
Translation: X:53.14, Y:5.04, Z:1.71
[[ 9.91984438e-01 -1.22341082e-01 -3.16154263e-02  5.31421991e+01]
 [ 1.22301174e-01  9.92487874e-01 -3.20030613e-03  5.04390486e+00]
 [ 3.17694562e-02 -6.91949882e-04  9.99494984e-01  1.70662994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.64650248099999
Centerline is valid?  [True, True]
Translation: X:53.20, Y:5.05, Z:1.71
[[ 9.92057783e-01 -1.21744992e-01 -3.16150451e-02  5.32005349e+01]
 [ 1.21704662e-01  9.92561187e-01 -3.20406798e-03  5.04889791e+00]
 [ 3.17699459e-02 -6.69077801e-04  9.99494984e-01  1.70848859e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.706502480999994
Centerline is valid?  [True, True]
Translation: X:53.26, Y:5.05, Z:1.71
[[ 9.92086851e-01 -1.21507965e-01 -3.16147960e-02  5.32595079e+01]
 [ 1.21467436e-01  9.92590238e-01 -3.20652373e-03  5.05274529e+00]
 [ 3.17701560e-02 -6.59018200e-04  9.99494984e-01  1.71036460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.766502480999996
Centerline is valid?  [True, True]
Translation: X:53.32, Y:5.06, Z:1.71
[[ 9.92251391e-01 -1.20156955e-01 -3.16146101e-02  5.33183079e+01]
 [ 1.20115683e-01  9.92754718e-01 -3.20835558e-03  5.05974042e+00]
 [ 3.17710595e-02 -6.13915185e-04  9.99494984e-01  1.71224567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 52.82650248099999
Centerline is valid?  [True, True]
Translation: X:53.38, Y:5.07, Z:1.71
[[ 9.92372398e-01 -1.19153663e-01 -3.16137500e-02  5.33767291e+01]
 [ 1.19111612e-01  9.92875660e-01 -3.21680826e-03  5.06747969e+00]
 [ 3.17718174e-02 -5.73293003e-04  9.99494984e-01  1.71411260e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.886502480999994
Centerline is valid?  [True, True]
Translation: X:53.44, Y:5.07, Z:1.72
[[ 9.92037818e-01 -1.21907982e-01 -3.16134752e-02  5.34360354e+01]
 [ 1.21867243e-01  9.92541188e-01 -3.21950644e-03  5.07096483e+00]
 [ 3.17701598e-02 -6.58774914e-04  9.99494984e-01  1.71599780e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.946502480999996
Centerline is valid?  [True, True]
Translation: X:53.49, Y:5.08, Z:1.72
[[ 9.91241831e-01 -1.28219672e-01 -3.16124585e-02  5.34945476e+01]
 [ 1.28181820e-01  9.91745427e-01 -3.22945846e-03  5.07654227e+00]
 [ 3.17655913e-02 -8.50968158e-04  9.99494984e-01  1.71785960e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.00650248099999
Centerline is valid?  [True, True]
Translation: X:53.55, Y:5.09, Z:1.72
[[ 9.91330606e-01 -1.27531746e-01 -3.16114566e-02  5.35519541e+01]
 [ 1.27493234e-01  9.91834151e-01 -3.23923671e-03  5.08512193e+00]
 [ 3.17664277e-02 -8.19092318e-04  9.99494984e-01  1.71969627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.06650248099999
Centerline is valid?  [True, True]
Translation: X:53.61, Y:5.09, Z:1.72
[[ 9.91617998e-01 -1.25277627e-01 -3.16111050e-02  5.36108258e+01]
 [ 1.25237860e-01  9.92121446e-01 -3.24266361e-03  5.09260919e+00]
 [ 3.17682884e-02 -7.43423546e-04  9.99494984e-01  1.72158014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.126502480999996
Centerline is valid?  [True, True]
Translation: X:53.67, Y:5.10, Z:1.72
[[ 9.91721504e-01 -1.24455656e-01 -3.16108983e-02  5.36691382e+01]
 [ 1.24415408e-01  9.92224913e-01 -3.24467734e-03  5.09884601e+00]
 [ 3.17689393e-02 -7.15066514e-04  9.99494984e-01  1.72344324e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.18650248099999
Centerline is valid?  [True, True]
Translation: X:53.73, Y:5.11, Z:1.73
[[ 9.91737629e-01 -1.24327374e-01 -3.16098075e-02  5.37289560e+01]
 [ 1.24286724e-01  9.92241006e-01 -3.25526929e-03  5.10650019e+00]
 [ 3.17692663e-02 -7.00306370e-04  9.99494984e-01  1.72535268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.24650248099999
Centerline is valid?  [True, True]
Translation: X:53.79, Y:5.11, Z:1.73
[[ 9.92187305e-01 -1.20686270e-01 -3.16097386e-02  5.37873215e+01]
 [ 1.20643751e-01  9.92690528e-01 -3.25593847e-03  5.11339292e+00]
 [ 3.17716352e-02 -5.83016609e-04  9.99494984e-01  1.72722052e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.306502480999995
Centerline is valid?  [True, True]
Translation: X:53.84, Y:5.12, Z:1.73
[[ 9.92592801e-01 -1.17304807e-01 -3.16087483e-02  5.38444632e+01]
 [ 1.17260268e-01  9.93095849e-01 -3.26552448e-03  5.11870820e+00]
 [ 3.17735784e-02 -4.65114196e-04  9.99494984e-01  1.72903841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.36650248099999
Centerline is valid?  [True, True]
Translation: X:53.90, Y:5.13, Z:1.73
[[ 9.93144802e-01 -1.12535844e-01 -3.16083326e-02  5.39032696e+01]
 [ 1.12488761e-01  9.93647618e-01 -3.26954300e-03  5.12520450e+00]
 [ 3.17754852e-02 -3.08452529e-04  9.99494984e-01  1.73091662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.42650248099999
Centerline is valid?  [True, True]
Translation: X:53.96, Y:5.13, Z:1.73
[[ 9.93161000e-01 -1.12393088e-01 -3.16073090e-02  5.39622696e+01]
 [ 1.12345619e-01  9.93663780e-01 -3.27940871e-03  5.12947400e+00]
 [ 3.17756210e-02 -2.93961855e-04  9.99494984e-01  1.73278963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.486502480999995
Centerline is valid?  [True, True]
Translation: X:54.02, Y:5.13, Z:1.73
[[ 9.93209333e-01 -1.11965209e-01 -3.16071663e-02  5.40208545e+01]
 [ 1.11917480e-01  9.93712088e-01 -3.28078348e-03  5.13377719e+00]
 [ 3.17757568e-02 -2.78889621e-04  9.99494984e-01  1.73465545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.54650248099999
Centerline is valid?  [True, True]
Translation: X:54.08, Y:5.14, Z:1.74
[[ 9.93233626e-01 -1.11749793e-01 -3.16061368e-02  5.40790571e+01]
 [ 1.11701640e-01  9.93736341e-01 -3.29067134e-03  5.13866607e+00]
 [ 3.17758986e-02 -2.62051896e-04  9.99494984e-01  1.73650522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.60650248099999
Centerline is valid?  [True, True]
Translation: X:54.14, Y:5.15, Z:1.74
[[ 9.93228365e-01 -1.11796627e-01 -3.16058508e-02  5.41378476e+01]
 [ 1.11748411e-01  9.93731073e-01 -3.29341648e-03  5.14871956e+00]
 [ 3.17759089e-02 -2.60788931e-04  9.99494984e-01  1.73839551e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.666502480999995
Centerline is valid?  [True, True]
Translation: X:54.20, Y:5.15, Z:1.74
[[ 9.92777450e-01 -1.15732732e-01 -3.16049053e-02  5.41971322e+01]
 [ 1.15686220e-01  9.93280319e-01 -3.30246484e-03  5.15337853e+00]
 [ 3.17747337e-02 -3.77639411e-04  9.99494984e-01  1.74027931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.72650248099999
Centerline is valid?  [True, True]
Translation: X:54.26, Y:5.16, Z:1.74
[[ 9.92108582e-01 -1.21333231e-01 -3.16039442e-02  5.42562123e+01]
 [ 1.21289266e-01  9.92611680e-01 -3.31163631e-03  5.15839548e+00]
 [ 3.17722557e-02 -5.47716382e-04  9.99494984e-01  1.74215772e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.78650248099999
Centerline is valid?  [True, True]
Translation: X:54.31, Y:5.17, Z:1.74
[[ 9.92059939e-01 -1.21730349e-01 -3.16037991e-02  5.43148784e+01]
 [ 1.21686541e-01  9.92563051e-01 -3.31302116e-03  5.16602632e+00]
 [ 3.17720584e-02 -5.59041421e-04  9.99494984e-01  1.74403707e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.846502480999995
Centerline is valid?  [True, True]
Translation: X:54.37, Y:5.17, Z:1.75
[[ 9.92180247e-01 -1.20745907e-01 -3.16035190e-02  5.43734662e+01]
 [ 1.20701515e-01  9.92683308e-01 -3.31569105e-03  5.17231701e+00]
 [ 3.17726419e-02 -5.24829454e-04  9.99494984e-01  1.74590862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.90650248099999
Centerline is valid?  [True, True]
Translation: X:54.43, Y:5.18, Z:1.75
[[ 9.91944278e-01 -1.22669610e-01 -3.16024720e-02  5.44307609e+01]
 [ 1.22625877e-01  9.92447396e-01 -3.32563993e-03  5.18101009e+00]
 [ 3.17717460e-02 -5.76431337e-04  9.99494984e-01  1.74774225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.96650248099999
Centerline is valid?  [True, True]
Translation: X:54.49, Y:5.19, Z:1.75
[[ 9.91763999e-01 -1.24119015e-01 -3.16012832e-02  5.44891517e+01]
 [ 1.24075658e-01  9.92267150e-01 -3.33689849e-03  5.18626185e+00]
 [ 3.17710877e-02 -6.11534215e-04  9.99494984e-01  1.74959821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 54.026502480999994
Centerline is valid?  [True, True]
Translation: X:54.55, Y:5.20, Z:1.75
[[ 9.90835936e-01 -1.31322404e-01 -3.16002151e-02  5.45485182e+01]
 [ 1.31282383e-01  9.91339363e-01 -3.34698231e-03  5.19615675e+00]
 [ 3.17660709e-02 -8.32241205e-04  9.99494985e-01  1.75150135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.086502481
Centerline is valid?  [True, True]
Translation: X:54.61, Y:5.20, Z:1.75
[[ 9.90220171e-01 -1.35887620e-01 -3.16001092e-02  5.46064997e+01]
 [ 1.35849888e-01  9.90723775e-01 -3.34798195e-03  5.20231366e+00]
 [ 3.17619288e-02 -9.77632047e-04  9.99494985e-01  1.75335443e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.14650248099999
Centerline is valid?  [True, True]
Translation: X:54.67, Y:5.21, Z:1.76
[[ 9.89721671e-01 -1.39472099e-01 -3.15998128e-02  5.46665918e+01]
 [ 1.39436101e-01  9.90225402e-01 -3.35077781e-03  5.20912508e+00]
 [ 3.17582773e-02 -1.08981727e-03  9.99494985e-01  1.75527521e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.206502480999994
Centerline is valid?  [True, True]
Translation: X:54.72, Y:5.22, Z:1.76
[[ 9.89325178e-01 -1.42257323e-01 -3.15997895e-02  5.47245216e+01]
 [ 1.42222737e-01  9.89829007e-01 -3.35099693e-03  5.21653358e+00]
 [ 3.17550922e-02 -1.17898291e-03  9.99494985e-01  1.75713140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.266502480999996
Centerline is valid?  [True, True]
Translation: X:54.78, Y:5.22, Z:1.76
[[ 9.89144571e-01 -1.43507968e-01 -3.15987470e-02  5.47824943e+01]
 [ 1.43473705e-01  9.89648423e-01 -3.36079885e-03  5.22321176e+00]
 [ 3.17539516e-02 -1.20927338e-03  9.99494985e-01  1.75897995e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.32650248099999
Centerline is valid?  [True, True]
Translation: X:54.84, Y:5.23, Z:1.76
[[ 9.89470117e-01 -1.41245996e-01 -3.15983666e-02  5.48417298e+01]
 [ 1.41210468e-01  9.89973881e-01 -3.36437182e-03  5.23116686e+00]
 [ 3.17567616e-02 -1.13307475e-03  9.99494985e-01  1.76087698e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.386502480999994
Centerline is valid?  [True, True]
Translation: X:54.90, Y:5.24, Z:1.76
[[ 9.90371421e-01 -1.34781307e-01 -3.15982120e-02  5.49002606e+01]
 [ 1.34742443e-01  9.90874939e-01 -3.36582334e-03  5.23726486e+00]
 [ 3.17635264e-02 -9.24205043e-04  9.99494985e-01  1.76274692e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.446502480999996
Centerline is valid?  [True, True]
Translation: X:54.96, Y:5.25, Z:1.76
[[ 9.90684843e-01 -1.32457936e-01 -3.15980611e-02  5.49583318e+01]
 [ 1.32417846e-01  9.91188265e-01 -3.36723931e-03  5.25028911e+00]
 [ 3.17656449e-02 -8.48274240e-04  9.99494985e-01  1.76462570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.50650248099999
Centerline is valid?  [True, True]
Translation: X:55.02, Y:5.26, Z:1.77
[[ 9.91372152e-01 -1.27211974e-01 -3.15969973e-02  5.50179668e+01]
 [ 1.27168903e-01  9.91875327e-01 -3.37719225e-03  5.25631669e+00]
 [ 3.17699013e-02 -6.70101132e-04  9.99494985e-01  1.76652459e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.56650248099999
Centerline is valid?  [True, True]
Translation: X:55.08, Y:5.26, Z:1.77
[[ 9.91691373e-01 -1.24699057e-01 -3.15969225e-02  5.50770520e+01]
 [ 1.24654689e-01  9.92194436e-01 -3.37789124e-03  5.26159799e+00]
 [ 3.17715106e-02 -5.88878942e-04  9.99494985e-01  1.76840982e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.626502480999996
Centerline is valid?  [True, True]
Translation: X:55.13, Y:5.27, Z:1.77
[[ 9.91669451e-01 -1.24873552e-01 -3.15958222e-02  5.51348882e+01]
 [ 1.24828946e-01  9.92172492e-01 -3.38815225e-03  5.26892308e+00]
 [ 3.17715963e-02 -5.84146101e-04  9.99494985e-01  1.77025601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.68650248099999
Centerline is valid?  [True, True]
Translation: X:55.19, Y:5.27, Z:1.77
[[ 9.91564594e-01 -1.25703774e-01 -3.15945643e-02  5.51939201e+01]
 [ 1.25659216e-01  9.92067640e-01 -3.39984205e-03  5.27497801e+00]
 [ 3.17713178e-02 -5.98985171e-04  9.99494985e-01  1.77213474e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.74650248099999
Centerline is valid?  [True, True]
Translation: X:55.25, Y:5.28, Z:1.77
[[ 9.91497895e-01 -1.26228852e-01 -3.15943332e-02  5.52538278e+01]
 [ 1.26184492e-01  9.92000958e-01 -3.40198803e-03  5.27786980e+00]
 [ 3.17710379e-02 -6.13650919e-04  9.99494985e-01  1.77403683e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.806502480999995
Centerline is valid?  [True, True]
Translation: X:55.31, Y:5.29, Z:1.78
[[ 9.90972410e-01 -1.30290006e-01 -3.15942599e-02  5.53122612e+01]
 [ 1.30247686e-01  9.91475649e-01 -3.40266897e-03  5.28530025e+00]
 [ 3.17682731e-02 -7.43128162e-04  9.99494985e-01  1.77590876e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.86650248099999
Centerline is valid?  [True, True]
Translation: X:55.37, Y:5.29, Z:1.78
[[ 9.90764192e-01 -1.31864049e-01 -3.15941139e-02  5.53715646e+01]
 [ 1.31822486e-01  9.91267494e-01 -3.40402421e-03  5.28900686e+00]
 [ 3.17670865e-02 -7.92229322e-04  9.99494985e-01  1.77779505e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.92650248099999
Centerline is valid?  [True, True]
Translation: X:55.43, Y:5.29, Z:1.78
[[ 9.90703035e-01 -1.32322972e-01 -3.15931516e-02  5.54300263e+01]
 [ 1.32281357e-01  9.91206333e-01 -3.41293207e-03  5.29395316e+00]
 [ 3.17669412e-02 -7.97982818e-04  9.99494985e-01  1.77965379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.986502480999995
Centerline is valid?  [True, True]
Translation: X:55.49, Y:5.30, Z:1.78
[[ 9.91022951e-01 -1.29905536e-01 -3.15921311e-02  5.54879363e+01]
 [ 1.29862394e-01  9.91526120e-01 -3.42235206e-03  5.29926086e+00]
 [ 3.17690057e-02 -7.11000340e-04  9.99494985e-01  1.78149595e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.04650248099999
Centerline is valid?  [True, True]
Translation: X:55.55, Y:5.30, Z:1.78
[[ 9.91413946e-01 -1.26887369e-01 -3.15908797e-02  5.55454076e+01]
 [ 1.26842328e-01  9.91916948e-01 -3.43386498e-03  5.30461697e+00]
 [ 3.17712431e-02 -6.02679108e-04  9.99494985e-01  1.78332295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.10650248099999
Centerline is valid?  [True, True]
Translation: X:55.60, Y:5.31, Z:1.79
[[ 9.92017817e-01 -1.22076580e-01 -3.15904976e-02  5.56045564e+01]
 [ 1.22028988e-01  9.92520584e-01 -3.43737686e-03  5.30972652e+00]
 [ 3.17738423e-02 -4.45017363e-04  9.99494985e-01  1.78520760e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.166502480999995
Centerline is valid?  [True, True]
Translation: X:55.66, Y:5.32, Z:1.79
[[ 9.92397914e-01 -1.18947422e-01 -3.15894073e-02  5.56634114e+01]
 [ 1.18897926e-01  9.92900498e-01 -3.44736741e-03  5.31849637e+00]
 [ 3.17751937e-02 -3.34754787e-04  9.99494985e-01  1.78709112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 55.22650248099999
Centerline is valid?  [True, True]
Translation: X:55.72, Y:5.32, Z:1.79
[[ 9.92006027e-01 -1.22172670e-01 -3.15892519e-02  5.57218384e+01]
 [ 1.22124763e-01  9.92508765e-01 -3.44879030e-03  5.32406958e+00]
 [ 3.17739573e-02 -4.36609134e-04  9.99494985e-01  1.78895597e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.28650248099999
Centerline is valid?  [True, True]
Translation: X:55.78, Y:5.33, Z:1.79
[[ 9.92158675e-01 -1.20927099e-01 -3.15879909e-02  5.57787286e+01]
 [ 1.20878195e-01  9.92661316e-01 -3.46030216e-03  5.33148217e+00]
 [ 3.17746209e-02 -3.85130503e-04  9.99494985e-01  1.79077169e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.346502480999995
Centerline is valid?  [True, True]
Translation: X:55.84, Y:5.34, Z:1.79
[[ 9.91936216e-01 -1.22738650e-01 -3.15874501e-02  5.58377594e+01]
 [ 1.22690506e-01  9.92438931e-01 -3.46523210e-03  5.34011862e+00]
 [ 3.17739331e-02 -4.38191027e-04  9.99494985e-01  1.79266383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.40650248099999
Centerline is valid?  [True, True]
Translation: X:55.90, Y:5.35, Z:1.79
[[ 9.91537750e-01 -1.25917170e-01 -3.15872917e-02  5.58954197e+01]
 [ 1.25870592e-01  9.92040612e-01 -3.46667493e-03  5.34627605e+00]
 [ 3.17723901e-02 -5.38572054e-04  9.99494985e-01  1.79450645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.46650248099999
Centerline is valid?  [True, True]
Translation: X:55.95, Y:5.35, Z:1.80
[[ 9.91383462e-01 -1.27126358e-01 -3.15867038e-02  5.59543200e+01]
 [ 1.27080223e-01  9.91886365e-01 -3.47202379e-03  5.35324464e+00]
 [ 3.17718065e-02 -5.71938394e-04  9.99494985e-01  1.79638841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.526502480999994
Centerline is valid?  [True, True]
Translation: X:56.01, Y:5.36, Z:1.80
[[ 9.91617243e-01 -1.25289887e-01 -3.15862004e-02  5.60131992e+01]
 [ 1.25242675e-01  9.92120046e-01 -3.47659692e-03  5.36172297e+00]
 [ 3.17728850e-02 -5.08486762e-04  9.99494985e-01  1.79827549e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.58650248099999
Centerline is valid?  [True, True]
Translation: X:56.07, Y:5.37, Z:1.80
[[ 9.92018212e-01 -1.22074760e-01 -3.15851256e-02  5.60710229e+01]
 [ 1.22025609e-01  9.92520829e-01 -3.48633417e-03  5.36826695e+00]
 [ 3.17744885e-02 -3.95687191e-04  9.99494985e-01  1.80011897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.64650248099999
Centerline is valid?  [True, True]
Translation: X:56.13, Y:5.38, Z:1.80
[[ 9.92201155e-01 -1.20578905e-01 -3.15847498e-02  5.61299760e+01]
 [ 1.20528888e-01  9.92703686e-01 -3.48973527e-03  5.37677404e+00]
 [ 3.17750861e-02 -3.44355400e-04  9.99494985e-01  1.80200931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.706502480999994
Centerline is valid?  [True, True]
Translation: X:56.19, Y:5.38, Z:1.80
[[ 9.91777063e-01 -1.24018831e-01 -3.15846033e-02  5.61887165e+01]
 [ 1.23970514e-01  9.92279761e-01 -3.49106092e-03  5.38422404e+00]
 [ 3.17737199e-02 -4.53205378e-04  9.99494985e-01  1.80389067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.766502480999996
Centerline is valid?  [True, True]
Translation: X:56.25, Y:5.39, Z:1.81
[[ 9.91384789e-01 -1.27116590e-01 -3.15843742e-02  5.62479281e+01]
 [ 1.27069777e-01  9.91887630e-01 -3.49313238e-03  5.38927996e+00]
 [ 3.17721851e-02 -5.50381095e-04  9.99494985e-01  1.80577804e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.82650248099999
Centerline is valid?  [True, True]
Translation: X:56.31, Y:5.40, Z:1.81
[[ 9.91303250e-01 -1.27750960e-01 -3.15841493e-02  5.63069086e+01]
 [ 1.27704405e-01  9.91806115e-01 -3.49516486e-03  5.39837368e+00]
 [ 3.17718631e-02 -5.68666706e-04  9.99494985e-01  1.80767225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.886502480999994
Centerline is valid?  [True, True]
Translation: X:56.36, Y:5.41, Z:1.81
[[ 9.91124861e-01 -1.29127691e-01 -3.15839897e-02  5.63645399e+01]
 [ 1.29081788e-01  9.91627786e-01 -3.49660658e-03  5.40600306e+00]
 [ 3.17710705e-02 -6.11344164e-04  9.99494985e-01  1.80951910e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.946502480999996
Centerline is valid?  [True, True]
Translation: X:56.42, Y:5.41, Z:1.81
[[ 9.90643185e-01 -1.32772552e-01 -3.15836765e-02  5.64237690e+01]
 [ 1.32728409e-01  9.91146267e-01 -3.49943286e-03  5.41147942e+00]
 [ 3.17686717e-02 -7.25361827e-04  9.99494985e-01  1.81140798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.00650248099999
Centerline is valid?  [True, True]
Translation: X:56.48, Y:5.42, Z:1.81
[[ 9.90146096e-01 -1.36430370e-01 -3.15826442e-02  5.64830053e+01]
 [ 1.36387790e-01  9.90649312e-01 -3.50872486e-03  5.41650692e+00]
 [ 3.17660214e-02 -8.33336815e-04  9.99494985e-01  1.81329112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.06650248099999
Centerline is valid?  [True, True]
Translation: X:56.54, Y:5.43, Z:1.82
[[ 9.90264392e-01 -1.35569102e-01 -3.15824871e-02  5.65414887e+01]
 [ 1.35526039e-01  9.90767567e-01 -3.51013865e-03  5.42570038e+00]
 [ 3.17667702e-02 -8.04284055e-04  9.99494985e-01  1.81517043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.126502480999996
Centerline is valid?  [True, True]
Translation: X:56.60, Y:5.43, Z:1.82
[[ 9.90504553e-01 -1.33803162e-01 -3.15823331e-02  5.66003511e+01]
 [ 1.33759158e-01  9.91007647e-01 -3.51152402e-03  5.43022963e+00]
 [ 3.17681866e-02 -7.46245740e-04  9.99494985e-01  1.81704535e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.18650248099999
Centerline is valid?  [True, True]
Translation: X:56.66, Y:5.43, Z:1.82
[[ 9.90688159e-01 -1.32437140e-01 -3.15812614e-02  5.66593297e+01]
 [ 1.32392136e-01  9.91191164e-01 -3.52113612e-03  5.43396826e+00]
 [ 3.17693964e-02 -6.92762785e-04  9.99494985e-01  1.81891556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.24650248099999
Centerline is valid?  [True, True]
Translation: X:56.72, Y:5.44, Z:1.82
[[ 9.90835787e-01 -1.31328350e-01 -3.15801783e-02  5.67182385e+01]
 [ 1.31282474e-01  9.91338714e-01 -3.53082298e-03  5.44438669e+00]
 [ 3.17703505e-02 -6.47458179e-04  9.99494985e-01  1.82080704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.306502480999995
Centerline is valid?  [True, True]
Translation: X:56.78, Y:5.45, Z:1.82
[[ 9.91062246e-01 -1.29608357e-01 -3.15800183e-02  5.67759368e+01]
 [ 1.29561563e-01  9.91565088e-01 -3.53225359e-03  5.45103509e+00]
 [ 3.17714532e-02 -5.90873352e-04  9.99494985e-01  1.82265260e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.36650248099999
Centerline is valid?  [True, True]
Translation: X:56.83, Y:5.46, Z:1.82
[[ 9.91138774e-01 -1.29021930e-01 -3.15796264e-02  5.68339503e+01]
 [ 1.28974726e-01  9.91641578e-01 -3.53575421e-03  5.45892581e+00]
 [ 3.17718604e-02 -5.68550578e-04  9.99494985e-01  1.82451111e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 56.42650248099999
Centerline is valid?  [True, True]
Translation: X:56.89, Y:5.46, Z:1.83
[[ 9.91137737e-01 -1.29029971e-01 -3.15793075e-02  5.68933181e+01]
 [ 1.28982681e-01  9.91640533e-01 -3.53859961e-03  5.46471368e+00]
 [ 3.17719068e-02 -5.65944145e-04  9.99494985e-01  1.82640541e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.486502480999995
Centerline is valid?  [True, True]
Translation: X:56.95, Y:5.47, Z:1.83
[[ 9.90919531e-01 -1.30695217e-01 -3.15791494e-02  5.69530356e+01]
 [ 1.30648727e-01  9.91422402e-01 -3.54001009e-03  5.47151018e+00]
 [ 3.17709386e-02 -6.17910529e-04  9.99494985e-01  1.82831531e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.54650248099999
Centerline is valid?  [True, True]
Translation: X:57.01, Y:5.48, Z:1.83
[[ 9.90581497e-01 -1.33233108e-01 -3.15790711e-02  5.70112251e+01]
 [ 1.33187884e-01  9.91084482e-01 -3.54070832e-03  5.47902473e+00]
 [ 3.17692669e-02 -6.98589508e-04  9.99494985e-01  1.83017996e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.60650248099999
Centerline is valid?  [True, True]
Translation: X:57.07, Y:5.48, Z:1.83
[[ 9.90881144e-01 -1.30986231e-01 -3.15779430e-02  5.70703780e+01]
 [ 1.30939547e-01  9.91383996e-01 -3.55074144e-03  5.48452098e+00]
 [ 3.17709655e-02 -6.16438806e-04  9.99494985e-01  1.83206155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.666502480999995
Centerline is valid?  [True, True]
Translation: X:57.13, Y:5.49, Z:1.83
[[ 9.91125379e-01 -1.29125472e-01 -3.15768278e-02  5.71286428e+01]
 [ 1.29077529e-01  9.91628112e-01 -3.56063130e-03  5.49342744e+00]
 [ 3.17722383e-02 -5.46826848e-04  9.99494985e-01  1.83392731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.72650248099999
Centerline is valid?  [True, True]
Translation: X:57.19, Y:5.50, Z:1.84
[[ 9.91194674e-01 -1.28592741e-01 -3.15756930e-02  5.71862589e+01]
 [ 1.28544208e-01  9.91697351e-01 -3.57066659e-03  5.49974233e+00]
 [ 3.17726929e-02 -5.19646740e-04  9.99494985e-01  1.83576327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.78650248099999
Centerline is valid?  [True, True]
Translation: X:57.25, Y:5.51, Z:1.84
[[ 9.91085656e-01 -1.29430377e-01 -3.15752961e-02  5.72455573e+01]
 [ 1.29382158e-01  9.91588363e-01 -3.57417266e-03  5.50630800e+00]
 [ 3.17723027e-02 -5.42968677e-04  9.99494985e-01  1.83765769e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.846502480999995
Centerline is valid?  [True, True]
Translation: X:57.30, Y:5.52, Z:1.84
[[ 9.90382154e-01 -1.34707831e-01 -3.15751374e-02  5.73037478e+01]
 [ 1.34662245e-01  9.90885107e-01 -3.57557397e-03  5.51672571e+00]
 [ 3.17689912e-02 -7.10794235e-04  9.99494985e-01  1.83953231e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.90650248099999
Centerline is valid?  [True, True]
Translation: X:57.36, Y:5.52, Z:1.84
[[ 9.90643725e-01 -1.32770830e-01 -3.15739848e-02  5.73608552e+01]
 [ 1.32723937e-01  9.91146558e-01 -3.58572301e-03  5.52499335e+00]
 [ 3.17705258e-02 -6.38449570e-04  9.99494986e-01  1.84135915e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.96650248099999
Centerline is valid?  [True, True]
Translation: X:57.42, Y:5.53, Z:1.84
[[ 9.90909559e-01 -1.30772150e-01 -3.15735817e-02  5.74190953e+01]
 [ 1.30724130e-01  9.91412285e-01 -3.58926913e-03  5.53222348e+00]
 [ 3.17718132e-02 -5.70787923e-04  9.99494986e-01  1.84322250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.026502480999994
Centerline is valid?  [True, True]
Translation: X:57.48, Y:5.54, Z:1.85
[[ 9.90984937e-01 -1.30199995e-01 -3.15723791e-02  5.74778289e+01]
 [ 1.30151349e-01  9.91487603e-01 -3.59981664e-03  5.53969552e+00]
 [ 3.17723186e-02 -5.41823655e-04  9.99494986e-01  1.84509763e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.08650248099999
Centerline is valid?  [True, True]
Translation: X:57.54, Y:5.55, Z:1.85
[[ 9.91011779e-01 -1.29995811e-01 -3.15712434e-02  5.75360534e+01]
 [ 1.29946745e-01  9.91514404e-01 -3.60975004e-03  5.54700625e+00]
 [ 3.17725949e-02 -5.25275509e-04  9.99494986e-01  1.84695651e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.14650248099999
Centerline is valid?  [True, True]
Translation: X:57.59, Y:5.55, Z:1.85
[[ 9.91433101e-01 -1.26742794e-01 -3.15700886e-02  5.75940706e+01]
 [ 1.26691758e-01  9.91935530e-01 -3.61982135e-03  5.55299809e+00]
 [ 3.17742788e-02 -4.10859321e-04  9.99494986e-01  1.84880398e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.206502480999994
Centerline is valid?  [True, True]
Translation: X:57.65, Y:5.56, Z:1.85
[[ 9.91836252e-01 -1.23548388e-01 -3.15696849e-02  5.76531340e+01]
 [ 1.23495621e-01  9.92338502e-01 -3.62333873e-03  5.56041705e+00]
 [ 3.17754715e-02 -3.04959143e-04  9.99494986e-01  1.85069407e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.26650248099999
Centerline is valid?  [True, True]
Translation: X:57.71, Y:5.57, Z:1.85
[[ 9.91926385e-01 -1.22822687e-01 -3.15695250e-02  5.77135353e+01]
 [ 1.22769509e-01  9.92428591e-01 -3.62473126e-03  5.56597399e+00]
 [ 3.17756985e-02 -2.80308519e-04  9.99494986e-01  1.85262109e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.32650248099999
Centerline is valid?  [True, True]
Translation: X:57.77, Y:5.57, Z:1.85
[[ 9.92191807e-01 -1.20659785e-01 -3.15695250e-02  5.77735309e+01]
 [ 1.20605512e-01  9.92693896e-01 -3.62473126e-03  5.56950667e+00]
 [ 3.17762341e-02 -2.11030071e-04  9.99494986e-01  1.85452889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.386502480999994
Centerline is valid?  [True, True]
Translation: X:57.83, Y:5.57, Z:1.86
[[ 9.92420409e-01 -1.18764900e-01 -3.15694431e-02  5.78331352e+01]
 [ 1.18709646e-01  9.92922392e-01 -3.62544447e-03  5.57488238e+00]
 [ 3.17765825e-02 -1.49632328e-04  9.99494986e-01  1.85643053e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.446502480999996
Centerline is valid?  [True, True]
Translation: X:57.89, Y:5.58, Z:1.86
[[ 9.92494952e-01 -1.18140387e-01 -3.15692802e-02  5.78911572e+01]
 [ 1.18084772e-01  9.92996895e-01 -3.62686251e-03  5.58278266e+00]
 [ 3.17766761e-02 -1.28208511e-04  9.99494986e-01  1.85829088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.50650248099999
Centerline is valid?  [True, True]
Translation: X:57.95, Y:5.59, Z:1.86
[[ 9.93155573e-01 -1.12451803e-01 -3.15689607e-02  5.79500852e+01]
 [ 1.12393224e-01  9.93657179e-01 -3.62964152e-03  5.58787073e+00]
 [ 3.17768841e-02  5.66614305e-05  9.99494986e-01  1.86016871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.56650248099999
Centerline is valid?  [True, True]
Translation: X:58.01, Y:5.59, Z:1.86
[[ 9.93579779e-01 -1.08640213e-01 -3.15678279e-02  5.80088303e+01]
 [ 1.08579398e-01  9.94081118e-01 -3.63946710e-03  5.59377951e+00]
 [ 3.17763741e-02  1.88485162e-04  9.99494986e-01  1.86203895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 57.626502480999996
Centerline is valid?  [True, True]
Translation: X:58.07, Y:5.60, Z:1.86
[[ 9.93668899e-01 -1.07822359e-01 -3.15667107e-02  5.80683352e+01]
 [ 1.07760825e-01  9.94170151e-01 -3.64913098e-03  5.60256131e+00]
 [ 3.17761395e-02  2.24373182e-04  9.99494986e-01  1.86394377e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.68650248099999
Centerline is valid?  [True, True]
Translation: X:58.13, Y:5.61, Z:1.87
[[ 9.93416964e-01 -1.10119412e-01 -3.15665977e-02  5.81261242e+01]
 [ 1.10059005e-01  9.93918353e-01 -3.65010841e-03  5.60852343e+00]
 [ 3.17765686e-02  1.51891270e-04  9.99494986e-01  1.86579000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.74650248099999
Centerline is valid?  [True, True]
Translation: X:58.18, Y:5.61, Z:1.87
[[ 9.92833135e-01 -1.15264656e-01 -3.15661941e-02  5.81844460e+01]
 [ 1.15206737e-01  9.93334817e-01 -3.65359573e-03  5.61294955e+00]
 [ 3.17769301e-02 -9.22732955e-06  9.99494986e-01  1.86764574e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.806502480999995
Centerline is valid?  [True, True]
Translation: X:58.24, Y:5.62, Z:1.87
[[ 9.92179554e-01 -1.20761708e-01 -3.15649008e-02  5.82438254e+01]
 [ 1.20706214e-01  9.92681510e-01 -3.66473463e-03  5.62037967e+00]
 [ 3.17764530e-02 -1.74004913e-04  9.99494986e-01  1.86954065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.86650248099999
Centerline is valid?  [True, True]
Translation: X:58.30, Y:5.63, Z:1.87
[[ 9.91318085e-01 -1.27640597e-01 -3.15647375e-02  5.83016404e+01]
 [ 1.27588542e-01  9.91820409e-01 -3.66614115e-03  5.62940424e+00]
 [ 3.17744993e-02 -3.92986795e-04  9.99494986e-01  1.87139863e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.92650248099999
Centerline is valid?  [True, True]
Translation: X:58.36, Y:5.64, Z:1.87
[[ 9.90144481e-01 -1.36446323e-01 -3.15643309e-02  5.83596946e+01]
 [ 1.36398622e-01  9.90647238e-01 -3.66963781e-03  5.63708041e+00]
 [ 3.17698258e-02 -6.71859624e-04  9.99494986e-01  1.87325781e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.986502480999995
Centerline is valid?  [True, True]
Translation: X:58.42, Y:5.65, Z:1.88
[[ 9.89914843e-01 -1.38102531e-01 -3.15641257e-02  5.84183532e+01]
 [ 1.38055615e-01  9.90417673e-01 -3.67140221e-03  5.64537025e+00]
 [ 3.17686979e-02 -7.23229253e-04  9.99494986e-01  1.87513951e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.04650248099999
Centerline is valid?  [True, True]
Translation: X:58.48, Y:5.66, Z:1.88
[[ 9.89673440e-01 -1.39822047e-01 -3.15638721e-02  5.84757091e+01]
 [ 1.39775936e-01  9.90176344e-01 -3.67358147e-03  5.65754358e+00]
 [ 3.17674472e-02 -7.76223755e-04  9.99494986e-01  1.87699407e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.10650248099999
Centerline is valid?  [True, True]
Translation: X:58.54, Y:5.67, Z:1.88
[[ 9.89896254e-01 -1.38236076e-01 -3.15625323e-02  5.85350905e+01]
 [ 1.38188793e-01  9.90399050e-01 -3.68505679e-03  5.66675991e+00]
 [ 3.17689098e-02 -7.13764328e-04  9.99494986e-01  1.87889552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.166502480999995
Centerline is valid?  [True, True]
Translation: X:58.59, Y:5.67, Z:1.88
[[ 9.90260378e-01 -1.35603081e-01 -3.15624497e-02  5.85939677e+01]
 [ 1.35554439e-01  9.90763044e-01 -3.68576383e-03  5.67466430e+00]
 [ 3.17707097e-02 -6.28564282e-04  9.99494986e-01  1.88078344e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.22650248099999
Centerline is valid?  [True, True]
Translation: X:58.65, Y:5.69, Z:1.88
[[ 9.90374517e-01 -1.34767201e-01 -3.15613404e-02  5.86530391e+01]
 [ 1.34717832e-01  9.90877112e-01 -3.69523846e-03  5.68574605e+00]
 [ 3.17714068e-02 -5.92205363e-04  9.99494986e-01  1.88268339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.28650248099999
Centerline is valid?  [True, True]
Translation: X:58.71, Y:5.69, Z:1.88
[[ 9.90840502e-01 -1.31297333e-01 -3.15612040e-02  5.87119524e+01]
 [ 1.31246167e-01  9.91342918e-01 -3.69640296e-03  5.69357553e+00]
 [ 3.17733040e-02 -4.79741301e-04  9.99494986e-01  1.88457189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.346502480999995
Centerline is valid?  [True, True]
Translation: X:58.77, Y:5.70, Z:1.89
[[ 9.91148275e-01 -1.28953474e-01 -3.15610365e-02  5.87705545e+01]
 [ 1.28901075e-01  9.91650563e-01 -3.69783290e-03  5.70394223e+00]
 [ 3.17743680e-02 -4.03150836e-04  9.99494986e-01  1.88645977e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.40650248099999
Centerline is valid?  [True, True]
Translation: X:58.83, Y:5.71, Z:1.89
[[ 9.91278896e-01 -1.27945784e-01 -3.15598766e-02  5.88284454e+01]
 [ 1.27892560e-01  9.91781098e-01 -3.70770628e-03  5.71359203e+00]
 [ 3.17748744e-02 -3.60902419e-04  9.99494986e-01  1.88831700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.46650248099999
Centerline is valid?  [True, True]
Translation: X:58.89, Y:5.72, Z:1.89
[[ 9.91523372e-01 -1.26037498e-01 -3.15587028e-02  5.88869496e+01]
 [ 1.25982990e-01  9.92025436e-01 -3.71766994e-03  5.72470429e+00]
 [ 3.17756017e-02 -2.89703116e-04  9.99494986e-01  1.89019903e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.526502480999994
Centerline is valid?  [True, True]
Translation: X:58.95, Y:5.73, Z:1.89
[[ 9.91652204e-01 -1.25020110e-01 -3.15575433e-02  5.89462409e+01]
 [ 1.24964775e-01  9.92154177e-01 -3.72748668e-03  5.73293650e+00]
 [ 3.17759592e-02 -2.47210904e-04  9.99494986e-01  1.89209535e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.58650248099999
Centerline is valid?  [True, True]
Translation: X:59.00, Y:5.74, Z:1.89
[[ 9.91803758e-01 -1.23812083e-01 -3.15574597e-02  5.90038923e+01]
 [ 1.23756114e-01  9.92305661e-01 -3.72819474e-03  5.74034077e+00]
 [ 3.17762414e-02 -2.07791026e-04  9.99494986e-01  1.89394276e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.64650248099999
Centerline is valid?  [True, True]
Translation: X:59.06, Y:5.75, Z:1.90
[[ 9.91973498e-01 -1.22444815e-01 -3.15570497e-02  5.90626499e+01]
 [ 1.22388044e-01  9.92475310e-01 -3.73166169e-03  5.74870601e+00]
 [ 3.17765153e-02 -1.60496072e-04  9.99494986e-01  1.89582688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.706502480999994
Centerline is valid?  [True, True]
Translation: X:59.12, Y:5.76, Z:1.90
[[ 9.92161645e-01 -1.20911120e-01 -3.15558327e-02  5.91209459e+01]
 [ 1.20853246e-01  9.92663332e-01 -3.74192490e-03  5.75714279e+00]
 [ 3.17767583e-02 -1.01030451e-04  9.99494986e-01  1.89769230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.76650248099999
Centerline is valid?  [True, True]
Translation: X:59.18, Y:5.76, Z:1.90
[[ 9.91739598e-01 -1.24325438e-01 -3.15555778e-02  5.91789754e+01]
 [ 1.24269223e-01  9.92241474e-01 -3.74407310e-03  5.76495769e+00]
 [ 3.17762365e-02 -2.08241584e-04  9.99494986e-01  1.89955225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 58.82650248099999
Centerline is valid?  [True, True]
Translation: X:59.24, Y:5.77, Z:1.90
[[ 9.91574899e-01 -1.25632564e-01 -3.15543603e-02  5.92367200e+01]
 [ 1.25576685e-01  9.92076812e-01 -3.75430553e-03  5.77250926e+00]
 [ 3.17760122e-02 -2.39816850e-04  9.99494986e-01  1.90139700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.886502480999994
Centerline is valid?  [True, True]
Translation: X:59.30, Y:5.78, Z:1.90
[[ 9.91571217e-01 -1.25661736e-01 -3.15539339e-02  5.92952644e+01]
 [ 1.25605758e-01  9.92073118e-01 -3.75788584e-03  5.78192986e+00]
 [ 3.17760321e-02 -2.37144352e-04  9.99494986e-01  1.90327834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.94650248099999
Centerline is valid?  [True, True]
Translation: X:59.35, Y:5.79, Z:1.91
[[ 9.91694555e-01 -1.24684932e-01 -3.15527665e-02  5.93545349e+01]
 [ 1.24628149e-01  9.92196366e-01 -3.76766243e-03  5.78956472e+00]
 [ 3.17763110e-02 -1.95992568e-04  9.99494986e-01  1.90517189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.00650248099999
Centerline is valid?  [True, True]
Translation: X:59.41, Y:5.80, Z:1.91
[[ 9.91445485e-01 -1.26650240e-01 -3.15526015e-02  5.94134005e+01]
 [ 1.26594407e-01  9.91947403e-01 -3.76904418e-03  5.79831175e+00]
 [ 3.17758715e-02 -2.57581055e-04  9.99494986e-01  1.90706229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.06650248099999
Centerline is valid?  [True, True]
Translation: X:59.47, Y:5.81, Z:1.91
[[ 9.91461726e-01 -1.26523081e-01 -3.15524317e-02  5.94707744e+01]
 [ 1.26467138e-01  9.91963632e-01 -3.77046465e-03  5.80615974e+00]
 [ 3.17759156e-02 -2.52074358e-04  9.99494986e-01  1.90890218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.126502480999996
Centerline is valid?  [True, True]
Translation: X:59.53, Y:5.82, Z:1.91
[[ 9.91515965e-01 -1.26097656e-01 -3.15510917e-02  5.95300122e+01]
 [ 1.26041143e-01  9.92017807e-01 -3.78164482e-03  5.81524556e+00]
 [ 3.17761014e-02 -2.27174444e-04  9.99494986e-01  1.91079932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.18650248099999
Centerline is valid?  [True, True]
Translation: X:59.59, Y:5.82, Z:1.91
[[ 9.91658953e-01 -1.24968216e-01 -3.15510059e-02  5.95881942e+01]
 [ 1.24911109e-01  9.92160727e-01 -3.78236088e-03  5.82322043e+00]
 [ 3.17763438e-02 -1.90259094e-04  9.99494986e-01  1.91266567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.24650248099999
Centerline is valid?  [True, True]
Translation: X:59.65, Y:5.83, Z:1.91
[[ 9.91530957e-01 -1.25979827e-01 -3.15506552e-02  5.96460608e+01]
 [ 1.25923139e-01  9.92032779e-01 -3.78528367e-03  5.82971158e+00]
 [ 3.17761536e-02 -2.19731584e-04  9.99494986e-01  1.91451503e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.306502480999995
Centerline is valid?  [True, True]
Translation: X:59.71, Y:5.84, Z:1.92
[[ 9.91481730e-01 -1.26366752e-01 -3.15503131e-02  5.97056627e+01]
 [ 1.26310168e-01  9.91983564e-01 -3.78813293e-03  5.83706740e+00]
 [ 3.17760861e-02 -2.29260761e-04  9.99494986e-01  1.91642250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.36650248099999
Centerline is valid?  [True, True]
Translation: X:59.76, Y:5.84, Z:1.92
[[ 9.91395459e-01 -1.27041843e-01 -3.15501777e-02  5.97630487e+01]
 [ 1.26985565e-01  9.91897327e-01 -3.78926053e-03  5.84445796e+00]
 [ 3.17759316e-02 -2.49761452e-04  9.99494986e-01  1.91826125e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.42650248099999
Centerline is valid?  [True, True]
Translation: X:59.82, Y:5.85, Z:1.92
[[ 9.91687145e-01 -1.24744621e-01 -3.15497517e-02  5.98200934e+01]
 [ 1.24687068e-01  9.92188868e-01 -3.79280398e-03  5.85230730e+00]
 [ 3.17764443e-02 -1.72571096e-04  9.99494986e-01  1.92008942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.486502480999995
Centerline is valid?  [True, True]
Translation: X:59.88, Y:5.86, Z:1.92
[[ 9.91893755e-01 -1.23091093e-01 -3.15493365e-02  5.98790292e+01]
 [ 1.23032594e-01  9.92395369e-01 -3.79625451e-03  5.86061537e+00]
 [ 3.17767006e-02 -1.16115569e-04  9.99494986e-01  1.92197909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.54650248099999
Centerline is valid?  [True, True]
Translation: X:59.94, Y:5.87, Z:1.92
[[ 9.92026598e-01 -1.22016144e-01 -3.15482031e-02  5.99382653e+01]
 [ 1.21956803e-01  9.92528113e-01 -3.80565004e-03  5.86822057e+00]
 [ 3.17768293e-02 -7.22119230e-05  9.99494986e-01  1.92387179e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.60650248099999
Centerline is valid?  [True, True]
Translation: X:60.00, Y:5.88, Z:1.93
[[ 9.91842966e-01 -1.23500000e-01 -3.15480570e-02  5.99980967e+01]
 [ 1.23441370e-01  9.92344565e-01 -3.80686096e-03  5.87568990e+00]
 [ 3.17766902e-02 -1.18527108e-04  9.99494986e-01  1.92578798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.666502480999995
Centerline is valid?  [True, True]
Translation: X:60.06, Y:5.88, Z:1.93
[[ 9.91892194e-01 -1.23104067e-01 -3.15478010e-02  6.00563010e+01]
 [ 1.23045169e-01  9.92393762e-01 -3.80898147e-03  5.88158294e+00]
 [ 3.17767420e-02 -1.03705528e-04  9.99494986e-01  1.92764623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.72650248099999
Centerline is valid?  [True, True]
Translation: X:60.12, Y:5.89, Z:1.93
[[ 9.92500107e-01 -1.18102987e-01 -3.15471513e-02  6.01154547e+01]
 [ 1.18041392e-01  9.93001350e-01 -3.81435484e-03  5.89001557e+00]
 [ 3.17768505e-02  6.18779470e-05  9.99494986e-01  1.92954205e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.78650248099999
Centerline is valid?  [True, True]
Translation: X:60.17, Y:5.90, Z:1.93
[[ 9.92727064e-01 -1.16179883e-01 -3.15469814e-02  6.01738940e+01]
 [ 1.16117271e-01  9.93228181e-01 -3.81575984e-03  5.89850848e+00]
 [ 3.17766654e-02  1.24858669e-04  9.99494986e-01  1.93141809e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.846502480999995
Centerline is valid?  [True, True]
Translation: X:60.23, Y:5.91, Z:1.93
[[ 9.92603912e-01 -1.17227722e-01 -3.15457707e-02  6.02317278e+01]
 [ 1.17165323e-01  9.93105055e-01 -3.82574229e-03  5.90584757e+00]
 [ 3.17767474e-02  1.01376353e-04  9.99494987e-01  1.93326516e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.90650248099999
Centerline is valid?  [True, True]
Translation: X:60.29, Y:5.91, Z:1.94
[[ 9.92666393e-01 -1.16697571e-01 -3.15453479e-02  6.02892744e+01]
 [ 1.16634793e-01  9.93167489e-01 -3.82922550e-03  5.90935588e+00]
 [ 3.17766753e-02  1.21858352e-04  9.99494987e-01  1.93509262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.96650248099999
Centerline is valid?  [True, True]
Translation: X:60.35, Y:5.92, Z:1.94
[[ 9.92595065e-01 -1.17302831e-01 -3.15449341e-02  6.03474531e+01]
 [ 1.17240250e-01  9.93096186e-01 -3.83263179e-03  5.91563793e+00]
 [ 3.17767323e-02  1.05915438e-04  9.99494987e-01  1.93695070e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 60.026502480999994
Centerline is valid?  [True, True]
Translation: X:60.41, Y:5.92, Z:1.94
[[ 9.92585814e-01 -1.17381255e-01 -3.15442922e-02  6.04060435e+01]
 [ 1.17318546e-01  9.93086919e-01 -3.83790711e-03  5.92262485e+00]
 [ 3.17767223e-02  1.08721637e-04  9.99494987e-01  1.93882327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.08650248099999
Centerline is valid?  [True, True]
Translation: X:60.47, Y:5.93, Z:1.94
[[ 9.92363715e-01 -1.19244666e-01 -3.15430933e-02  6.04653485e+01]
 [ 1.19182586e-01  9.92864898e-01 -3.84773603e-03  5.92826325e+00]
 [ 3.17768521e-02  5.89662004e-05  9.99494987e-01  1.94071028e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.14650248099999
Centerline is valid?  [True, True]
Translation: X:60.52, Y:5.94, Z:1.94
[[ 9.92304263e-01 -1.19738684e-01 -3.15419907e-02  6.05238252e+01]
 [ 1.19676566e-01  9.92805442e-01 -3.85675289e-03  5.93583671e+00]
 [ 3.17768626e-02  5.22351804e-05  9.99494987e-01  1.94257910e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.206502480999994
Centerline is valid?  [True, True]
Translation: X:60.58, Y:5.94, Z:1.94
[[ 9.92112121e-01 -1.21320727e-01 -3.15407654e-02  6.05831484e+01]
 [ 1.21259091e-01  9.92613359e-01 -3.86674815e-03  5.94398670e+00]
 [ 3.17769018e-02  1.16431845e-05  9.99494987e-01  1.94447624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.26650248099999
Centerline is valid?  [True, True]
Translation: X:60.64, Y:5.95, Z:1.95
[[ 9.92259350e-01 -1.20110674e-01 -3.15405913e-02  6.06429855e+01]
 [ 1.20048382e-01  9.92760507e-01 -3.86816734e-03  5.94955152e+00]
 [ 3.17768616e-02  5.18282585e-05  9.99494987e-01  1.94638512e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.32650248099999
Centerline is valid?  [True, True]
Translation: X:60.70, Y:5.96, Z:1.95
[[ 9.92237467e-01 -1.20291337e-01 -3.15405034e-02  6.07017164e+01]
 [ 1.20229113e-01  9.92738632e-01 -3.86888431e-03  5.95929870e+00]
 [ 3.17768694e-02  4.67652214e-05  9.99494987e-01  1.94827572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.386502480999994
Centerline is valid?  [True, True]
Translation: X:60.76, Y:5.97, Z:1.95
[[ 9.92401963e-01 -1.18926923e-01 -3.15393507e-02  6.07594614e+01]
 [ 1.18863712e-01  9.92903005e-01 -3.87825828e-03  5.96914538e+00]
 [ 3.17767454e-02  9.99068203e-05  9.99494987e-01  1.95013007e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.44650248099999
Centerline is valid?  [True, True]
Translation: X:60.82, Y:5.98, Z:1.95
[[ 9.92300830e-01 -1.19768146e-01 -3.15381312e-02  6.08181302e+01]
 [ 1.19705046e-01  9.92801886e-01 -3.88815012e-03  5.97671397e+00]
 [ 3.17767926e-02  8.29411593e-05  9.99494987e-01  1.95200442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.50650248099999
Centerline is valid?  [True, True]
Translation: X:60.88, Y:5.98, Z:1.95
[[ 9.92196471e-01 -1.20629730e-01 -3.15377763e-02  6.08759404e+01]
 [ 1.20566973e-01  9.92697570e-01 -3.89102640e-03  5.98233385e+00]
 [ 3.17768474e-02  5.82484299e-05  9.99494987e-01  1.95384858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.56650248099999
Centerline is valid?  [True, True]
Translation: X:60.93, Y:5.99, Z:1.96
[[ 9.92263239e-01 -1.20079393e-01 -3.15373389e-02  6.09339669e+01]
 [ 1.20016246e-01  9.92764289e-01 -3.89456845e-03  5.99175723e+00]
 [ 3.17768012e-02  7.94440957e-05  9.99494987e-01  1.95571396e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.62650248099999
Centerline is valid?  [True, True]
Translation: X:60.99, Y:6.00, Z:1.96
[[ 9.92062933e-01 -1.21723514e-01 -3.15360756e-02  6.09918388e+01]
 [ 1.21660873e-01  9.92564046e-01 -3.90477093e-03  6.00320201e+00]
 [ 3.17768773e-02  3.70720091e-05  9.99494987e-01  1.95757812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.68650248099999
Centerline is valid?  [True, True]
Translation: X:61.05, Y:6.01, Z:1.96
[[ 9.91857145e-01 -1.23389461e-01 -3.15348158e-02  6.10488382e+01]
 [ 1.23327338e-01  9.92358323e-01 -3.91491928e-03  6.01137842e+00]
 [ 3.17768967e-02 -6.06424172e-06  9.99494987e-01  1.95940208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.74650248099999
Centerline is valid?  [True, True]
Translation: X:61.11, Y:6.02, Z:1.96
[[ 9.91344443e-01 -1.27443234e-01 -3.15343749e-02  6.11075851e+01]
 [ 1.27383048e-01  9.91845857e-01 -3.91846708e-03  6.01953095e+00]
 [ 3.17766212e-02 -1.32394239e-04  9.99494987e-01  1.96128527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.806502480999995
Centerline is valid?  [True, True]
Translation: X:61.16, Y:6.03, Z:1.96
[[ 9.90899368e-01 -1.30858948e-01 -3.15337682e-02  6.11639326e+01]
 [ 1.30800335e-01  9.91400968e-01 -3.92334323e-03  6.03143553e+00]
 [ 3.17760129e-02 -2.36989136e-04  9.99494987e-01  1.96310666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.86650248099999
Centerline is valid?  [True, True]
Translation: X:61.22, Y:6.04, Z:1.96
[[ 9.90669390e-01 -1.32588912e-01 -3.15331438e-02  6.12221927e+01]
 [ 1.32531016e-01  9.91171074e-01 -3.92835594e-03  6.04057098e+00]
 [ 3.17755964e-02 -2.87417606e-04  9.99494987e-01  1.96497746e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.92650248099999
Centerline is valid?  [True, True]
Translation: X:61.28, Y:6.05, Z:1.97
[[ 9.90400287e-01 -1.34584585e-01 -3.15318961e-02  6.12814291e+01]
 [ 1.34527382e-01  9.90902050e-01 -3.93834553e-03  6.05129529e+00]
 [ 3.17750611e-02 -3.41364875e-04  9.99494987e-01  1.96688223e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.986502480999995
Centerline is valid?  [True, True]
Translation: X:61.34, Y:6.06, Z:1.97
[[ 9.90541150e-01 -1.33543910e-01 -3.15318083e-02  6.13409960e+01]
 [ 1.33486158e-01  9.91042850e-01 -3.93904779e-03  6.06121341e+00]
 [ 3.17754090e-02 -3.07271018e-04  9.99494987e-01  1.96880008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.04650248099999
Centerline is valid?  [True, True]
Translation: X:61.40, Y:6.07, Z:1.97
[[ 9.90427010e-01 -1.34387832e-01 -3.15317156e-02  6.13968586e+01]
 [ 1.34330483e-01  9.90928756e-01 -3.93978968e-03  6.07405377e+00]
 [ 3.17751435e-02 -3.33596494e-04  9.99494987e-01  1.97061257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.10650248099999
Centerline is valid?  [True, True]
Translation: X:61.46, Y:6.08, Z:1.97
[[ 9.90343171e-01 -1.35004424e-01 -3.15310797e-02  6.14563844e+01]
 [ 1.34947226e-01  9.90844934e-01 -3.94487257e-03  6.08065287e+00]
 [ 3.17749859e-02 -3.48254127e-04  9.99494987e-01  1.97251335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.166502480999995
Centerline is valid?  [True, True]
Translation: X:61.52, Y:6.09, Z:1.97
[[ 9.90356914e-01 -1.34903596e-01 -3.15309870e-02  6.15150686e+01]
 [ 1.34846323e-01  9.90858669e-01 -3.94561336e-03  6.09030880e+00]
 [ 3.17750293e-02 -3.44272181e-04  9.99494987e-01  1.97440231e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 61.22650248099999
Centerline is valid?  [True, True]
Translation: X:61.57, Y:6.10, Z:1.98
[[ 9.90616879e-01 -1.32981331e-01 -3.15303744e-02  6.15727662e+01]
 [ 1.32922929e-01  9.91118504e-01 -3.95050286e-03  6.09967969e+00]
 [ 3.17756806e-02 -2.77674896e-04  9.99494987e-01  1.97625649e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.28650248099999
Centerline is valid?  [True, True]
Translation: X:61.63, Y:6.11, Z:1.98
[[ 9.90863575e-01 -1.31130622e-01 -3.15299079e-02  6.16305096e+01]
 [ 1.31071165e-01  9.91365076e-01 -3.95422274e-03  6.10742495e+00]
 [ 3.17761692e-02 -2.14566464e-04  9.99494987e-01  1.97810642e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.346502480999995
Centerline is valid?  [True, True]
Translation: X:61.69, Y:6.11, Z:1.98
[[ 9.90789027e-01 -1.31692795e-01 -3.15295426e-02  6.16897192e+01]
 [ 1.31633529e-01  9.91290550e-01 -3.95713337e-03  6.11481342e+00]
 [ 3.17760636e-02 -2.29660652e-04  9.99494987e-01  1.98000168e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.40650248099999
Centerline is valid?  [True, True]
Translation: X:61.75, Y:6.12, Z:1.98
[[ 9.90676822e-01 -1.32534274e-01 -3.15293622e-02  6.17493562e+01]
 [ 1.32475389e-01  9.91178390e-01 -3.95857009e-03  6.11983386e+00]
 [ 3.17758687e-02 -2.55200893e-04  9.99494987e-01  1.98190195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.46650248099999
Centerline is valid?  [True, True]
Translation: X:61.81, Y:6.13, Z:1.98
[[ 9.90472774e-01 -1.34050715e-01 -3.15291806e-02  6.18080956e+01]
 [ 1.33992552e-01  9.90974427e-01 -3.96001609e-03  6.12738870e+00]
 [ 3.17754546e-02 -3.02387241e-04  9.99494987e-01  1.98378394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.526502480999994
Centerline is valid?  [True, True]
Translation: X:61.87, Y:6.13, Z:1.99
[[ 9.90015930e-01 -1.37384064e-01 -3.15290023e-02  6.18667828e+01]
 [ 1.37327545e-01  9.90517770e-01 -3.96143473e-03  6.13391590e+00]
 [ 3.17742751e-02 -4.07917001e-04  9.99494987e-01  1.98566022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.58650248099999
Centerline is valid?  [True, True]
Translation: X:61.93, Y:6.14, Z:1.99
[[ 9.89780634e-01 -1.39069195e-01 -3.15286506e-02  6.19261737e+01]
 [ 1.39013440e-01  9.90282560e-01 -3.96423225e-03  6.13774383e+00]
 [ 3.17735754e-02 -4.59185880e-04  9.99494987e-01  1.98754714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.64650248099999
Centerline is valid?  [True, True]
Translation: X:61.99, Y:6.15, Z:1.99
[[ 9.89492372e-01 -1.41105851e-01 -3.15275115e-02  6.19851036e+01]
 [ 1.41050842e-01  9.89994380e-01 -3.97327130e-03  6.14595365e+00]
 [ 3.17727110e-02 -5.15460396e-04  9.99494987e-01  1.98943302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.706502480999994
Centerline is valid?  [True, True]
Translation: X:62.04, Y:6.15, Z:1.99
[[ 9.89686308e-01 -1.39739181e-01 -3.15273260e-02  6.20438534e+01]
 [ 1.39683431e-01  9.90188235e-01 -3.97474218e-03  6.15399451e+00]
 [ 3.17734145e-02 -4.70097163e-04  9.99494987e-01  1.99131725e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.76650248099999
Centerline is valid?  [True, True]
Translation: X:62.10, Y:6.16, Z:1.99
[[ 9.90058224e-01 -1.37079615e-01 -3.15260406e-02  6.21018564e+01]
 [ 1.37022194e-01  9.90559962e-01 -3.98491147e-03  6.15945664e+00]
 [ 3.17746837e-02 -3.74472887e-04  9.99494987e-01  1.99316226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.82650248099999
Centerline is valid?  [True, True]
Translation: X:62.16, Y:6.16, Z:2.00
[[ 9.90846667e-01 -1.31259336e-01 -3.15256815e-02  6.21608862e+01]
 [ 1.31198877e-01  9.91348048e-01 -3.98775016e-03  6.16490245e+00]
 [ 3.17763523e-02 -1.84885061e-04  9.99494987e-01  1.99504413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.886502480999994
Centerline is valid?  [True, True]
Translation: X:62.22, Y:6.17, Z:2.00
[[ 9.91459627e-01 -1.26546524e-01 -3.15243727e-02  6.22194991e+01]
 [ 1.26483354e-01  9.91960673e-01 -3.99807030e-03  6.17303983e+00]
 [ 3.17768799e-02 -2.33830992e-05  9.99494987e-01  1.99691892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.94650248099999
Centerline is valid?  [True, True]
Translation: X:62.28, Y:6.18, Z:2.00
[[ 9.92298023e-01 -1.19795360e-01 -3.15230881e-02  6.22792826e+01]
 [ 1.19728460e-01  9.92798585e-01 -4.00817353e-03  6.17741329e+00]
 [ 3.17762378e-02  2.03091886e-04  9.99494987e-01  1.99881568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.00650248099999
Centerline is valid?  [True, True]
Translation: X:62.34, Y:6.18, Z:2.00
[[ 9.93118261e-01 -1.12793728e-01 -3.15229056e-02  6.23381390e+01]
 [ 1.12723254e-01  9.93618333e-01 -4.00960842e-03  6.18096398e+00]
 [ 3.17739955e-02  4.28650866e-04  9.99494987e-01  2.00068529e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.06650248099999
Centerline is valid?  [True, True]
Translation: X:62.40, Y:6.19, Z:2.00
[[ 9.93807005e-01 -1.06554934e-01 -3.15227273e-02  6.23969710e+01]
 [ 1.06481276e-01  9.94306617e-01 -4.01100919e-03  6.18934475e+00]
 [ 3.17706492e-02  6.29588788e-04  9.99494987e-01  2.00257352e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.12650248099999
Centerline is valid?  [True, True]
Translation: X:62.46, Y:6.19, Z:2.00
[[ 9.94188267e-01 -1.02937284e-01 -3.15215029e-02  6.24560989e+01]
 [ 1.02861504e-01  9.94687562e-01 -4.02060849e-03  6.19411827e+00]
 [ 3.17679174e-02  7.54892580e-04  9.99494987e-01  2.00445142e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.18650248099999
Centerline is valid?  [True, True]
Translation: X:62.51, Y:6.20, Z:2.01
[[ 9.93925114e-01 -1.05447995e-01 -3.15212398e-02  6.25134905e+01]
 [ 1.05373411e-01  9.94424589e-01 -4.02266999e-03  6.19907689e+00]
 [ 3.17696784e-02  6.76732162e-04  9.99494987e-01  2.00628005e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.24650248099999
Centerline is valid?  [True, True]
Translation: X:62.57, Y:6.21, Z:2.01
[[ 9.93913169e-01 -1.05560646e-01 -3.15208105e-02  6.25727297e+01]
 [ 1.05486013e-01  9.94412637e-01 -4.02603145e-03  6.20625930e+00]
 [ 3.17696827e-02  6.76521067e-04  9.99494987e-01  2.00817505e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.306502480999995
Centerline is valid?  [True, True]
Translation: X:62.63, Y:6.21, Z:2.01
[[ 9.93546904e-01 -1.08954110e-01 -3.15206446e-02  6.26326984e+01]
 [ 1.08881141e-01  9.94046618e-01 -4.02733011e-03  6.20904518e+00]
 [ 3.17717843e-02  5.69337625e-04  9.99494987e-01  2.01007666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.36650248099999
Centerline is valid?  [True, True]
Translation: X:62.69, Y:6.21, Z:2.01
[[ 9.92600561e-01 -1.17262879e-01 -3.15205312e-02  6.26929411e+01]
 [ 1.17194065e-01  9.93100863e-01 -4.02821677e-03  6.21423278e+00]
 [ 3.17754271e-02  3.04391043e-04  9.99494987e-01  2.01199684e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 62.42650248099999
Centerline is valid?  [True, True]
Translation: X:62.75, Y:6.22, Z:2.01
[[ 9.91726541e-01 -1.24438490e-01 -3.15203191e-02  6.27518183e+01]
 [ 1.24373244e-01  9.92227321e-01 -4.02987575e-03  6.21665040e+00]
 [ 3.17767935e-02  7.62504017e-05  9.99494987e-01  2.01386229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.486502480999995
Centerline is valid?  [True, True]
Translation: X:62.81, Y:6.22, Z:2.02
[[ 9.90418067e-01 -1.34456456e-01 -3.15200553e-02  6.28106063e+01]
 [ 1.34396209e-01  9.90919473e-01 -4.03193823e-03  6.22285467e+00]
 [ 3.17759567e-02 -2.42871474e-04  9.99494987e-01  2.01573992e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.54650248099999
Centerline is valid?  [True, True]
Translation: X:62.87, Y:6.23, Z:2.02
[[ 9.89488547e-01 -1.41134395e-01 -3.15198026e-02  6.28695532e+01]
 [ 1.41077469e-01  9.89990341e-01 -4.03391315e-03  6.22680065e+00]
 [ 3.17736240e-02 -4.55223113e-04  9.99494987e-01  2.01761350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.60650248099999
Centerline is valid?  [True, True]
Translation: X:62.93, Y:6.23, Z:2.02
[[ 9.88747707e-01 -1.46234398e-01 -3.15194121e-02  6.29283678e+01]
 [ 1.46179963e-01  9.89249777e-01 -4.03696157e-03  6.23377523e+00]
 [ 3.17709141e-02 -6.15969999e-04  9.99494987e-01  2.01949442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.666502480999995
Centerline is valid?  [True, True]
Translation: X:62.99, Y:6.24, Z:2.02
[[ 9.88639746e-01 -1.46962780e-01 -3.15181660e-02  6.29865963e+01]
 [ 1.46908405e-01  9.89141822e-01 -4.04666726e-03  6.24211447e+00]
 [ 3.17706456e-02 -6.29587406e-04  9.99494987e-01  2.02135802e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.72650248099999
Centerline is valid?  [True, True]
Translation: X:63.05, Y:6.25, Z:2.02
[[ 9.88950017e-01 -1.44860444e-01 -3.15169027e-02  6.30451660e+01]
 [ 1.44804690e-01  9.89451943e-01 -4.05648250e-03  6.24993989e+00]
 [ 3.17720845e-02 -5.52136876e-04  9.99494987e-01  2.02323024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.78650248099999
Centerline is valid?  [True, True]
Translation: X:63.10, Y:6.26, Z:2.03
[[ 9.89501065e-01 -1.41047538e-01 -3.15156277e-02  6.31041345e+01]
 [ 1.40989534e-01  9.90002735e-01 -4.06636449e-03  6.25994617e+00]
 [ 3.17741083e-02 -4.19701663e-04  9.99494987e-01  2.02512386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.846502480999995
Centerline is valid?  [True, True]
Translation: X:63.16, Y:6.27, Z:2.03
[[ 9.90482342e-01 -1.33983233e-01 -3.15154486e-02  6.31629986e+01]
 [ 1.33921607e-01  9.90983580e-01 -4.06775157e-03  6.26973327e+00]
 [ 3.17763026e-02 -1.91563435e-04  9.99494987e-01  2.02701886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.90650248099999
Centerline is valid?  [True, True]
Translation: X:63.22, Y:6.28, Z:2.03
[[ 9.91261024e-01 -1.28095163e-01 -3.15152700e-02  6.32217027e+01]
 [ 1.28030515e-01  9.91761881e-01 -4.06913543e-03  6.27923324e+00]
 [ 3.17768800e-02 -1.34090316e-06  9.99494987e-01  2.02890765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.96650248099999
Centerline is valid?  [True, True]
Translation: X:63.28, Y:6.29, Z:2.03
[[ 9.91994045e-01 -1.22289345e-01 -3.15139671e-02  6.32811829e+01]
 [ 1.22221446e-01  9.92494473e-01 -4.07920055e-03  6.28863125e+00]
 [ 3.17762809e-02  1.94860018e-04  9.99494987e-01  2.03081490e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.026502480999994
Centerline is valid?  [True, True]
Translation: X:63.34, Y:6.30, Z:2.03
[[ 9.92195211e-01 -1.20646344e-01 -3.15138682e-02  6.33406861e+01]
 [ 1.20577592e-01  9.92695521e-01 -4.07996425e-03  6.29513060e+00]
 [ 3.17759086e-02  2.48254624e-04  9.99494987e-01  2.03271705e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.08650248099999
Centerline is valid?  [True, True]
Translation: X:63.40, Y:6.30, Z:2.03
[[ 9.92622902e-01 -1.17075428e-01 -3.15137743e-02  6.34001297e+01]
 [ 1.17004854e-01  9.93122959e-01 -4.08069007e-03  6.30487740e+00]
 [ 3.17748013e-02  3.63321872e-04  9.99494987e-01  2.03463062e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.14650248099999
Centerline is valid?  [True, True]
Translation: X:63.46, Y:6.31, Z:2.04
[[ 9.92420786e-01 -1.18776570e-01 -3.15136446e-02  6.34598117e+01]
 [ 1.18706821e-01  9.92920959e-01 -4.08169089e-03  6.31038124e+00]
 [ 3.17753675e-02  3.09870294e-04  9.99494987e-01  2.03653420e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.206502480999994
Centerline is valid?  [True, True]
Translation: X:63.52, Y:6.32, Z:2.04
[[ 9.92361614e-01 -1.19269955e-01 -3.15135518e-02  6.35186016e+01]
 [ 1.19200432e-01  9.92861819e-01 -4.08240740e-03  6.31902250e+00]
 [ 3.17755109e-02  2.94795396e-04  9.99494987e-01  2.03842264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.26650248099999
Centerline is valid?  [True, True]
Translation: X:63.58, Y:6.33, Z:2.04
[[ 9.92284814e-01 -1.19907569e-01 -3.15122549e-02  6.35773302e+01]
 [ 1.19838051e-01  9.92785019e-01 -4.09239363e-03  6.32547190e+00]
 [ 3.17756036e-02  2.84452841e-04  9.99494988e-01  2.04029421e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.32650248099999
Centerline is valid?  [True, True]
Translation: X:63.64, Y:6.34, Z:2.04
[[ 9.91818724e-01 -1.23703991e-01 -3.15109796e-02  6.36361836e+01]
 [ 1.23636075e-01  9.92319149e-01 -4.10219038e-03  6.33589307e+00]
 [ 3.17764057e-02  1.72735383e-04  9.99494988e-01  2.04218610e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.386502480999994
Centerline is valid?  [True, True]
Translation: X:63.70, Y:6.34, Z:2.04
[[ 9.91194043e-01 -1.28613504e-01 -3.15108732e-02  6.36951205e+01]
 [ 1.28548042e-01  9.91694795e-01 -4.10300745e-03  6.34402825e+00]
 [ 3.17768711e-02  1.62154998e-05  9.99494988e-01  2.04407706e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.44650248099999
Centerline is valid?  [True, True]
Translation: X:63.75, Y:6.35, Z:2.05
[[ 9.90743286e-01 -1.32041212e-01 -3.15096879e-02  6.37534877e+01]
 [ 1.31977193e-01  9.91244224e-01 -4.11208965e-03  6.35194882e+00]
 [ 3.17767614e-02 -8.45349507e-05  9.99494988e-01  2.04594385e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.50650248099999
Centerline is valid?  [True, True]
Translation: X:63.81, Y:6.36, Z:2.05
[[ 9.90333810e-01 -1.35078376e-01 -3.15083511e-02  6.38119146e+01]
 [ 1.35015569e-01  9.90834902e-01 -4.12230716e-03  6.35854660e+00]
 [ 3.17764086e-02 -1.71657797e-04  9.99494988e-01  2.04780635e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.56650248099999
Centerline is valid?  [True, True]
Translation: X:63.87, Y:6.37, Z:2.05
[[ 9.89835335e-01 -1.38684238e-01 -3.15070023e-02  6.38710259e+01]
 [ 1.38622928e-01  9.90336612e-01 -4.13259096e-03  6.37073946e+00]
 [ 3.17756631e-02 -2.77008360e-04  9.99494988e-01  2.04971348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 63.62650248099999
Centerline is valid?  [True, True]
Translation: X:63.93, Y:6.38, Z:2.05
[[ 9.89274835e-01 -1.42627540e-01 -3.15069078e-02  6.39305497e+01]
 [ 1.42568205e-01  9.89776350e-01 -4.13331107e-03  6.38065357e+00]
 [ 3.17743162e-02 -4.02902669e-04  9.99494988e-01  2.05163037e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.68650248099999
Centerline is valid?  [True, True]
Translation: X:63.99, Y:6.39, Z:2.05
[[ 9.88278116e-01 -1.49377666e-01 -3.15067885e-02  6.39890476e+01]
 [ 1.49321727e-01  9.88780021e-01 -4.13421996e-03  6.39055523e+00]
 [ 3.17708432e-02 -6.18888969e-04  9.99494988e-01  2.05351476e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.74650248099999
Centerline is valid?  [True, True]
Translation: X:64.05, Y:6.40, Z:2.06
[[ 9.87928118e-01 -1.51675443e-01 -3.15054422e-02  6.40455065e+01]
 [ 1.51620345e-01  9.88430116e-01 -4.14445463e-03  6.40245474e+00]
 [ 3.17695399e-02 -6.82442767e-04  9.99494988e-01  2.05533724e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.80650248099999
Centerline is valid?  [True, True]
Translation: X:64.10, Y:6.41, Z:2.06
[[ 9.88025467e-01 -1.51040107e-01 -3.15049707e-02  6.41037443e+01]
 [ 1.50984572e-01  9.88527416e-01 -4.14803605e-03  6.41423622e+00]
 [ 3.17700471e-02 -6.58399274e-04  9.99494988e-01  2.05721958e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.86650248099999
Centerline is valid?  [True, True]
Translation: X:64.16, Y:6.43, Z:2.06
[[ 9.88165861e-01 -1.50119122e-01 -3.15036461e-02  6.41605320e+01]
 [ 1.50062800e-01  9.88667723e-01 -4.15807159e-03  6.42541246e+00]
 [ 3.17708441e-02 -6.18660939e-04  9.99494988e-01  2.05904968e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.92650248099999
Centerline is valid?  [True, True]
Translation: X:64.22, Y:6.44, Z:2.06
[[ 9.88252996e-01 -1.49544745e-01 -3.15021354e-02  6.42183387e+01]
 [ 1.49487768e-01  9.88754784e-01 -4.16948534e-03  6.43635169e+00]
 [ 3.17714117e-02 -5.88677537e-04  9.99494988e-01  2.06091012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.986502480999995
Centerline is valid?  [True, True]
Translation: X:64.28, Y:6.45, Z:2.06
[[ 9.88277451e-01 -1.49383099e-01 -3.15019140e-02  6.42753377e+01]
 [ 1.49325986e-01  9.88779223e-01 -4.17115784e-03  6.44575094e+00]
 [ 3.17715385e-02 -5.81793129e-04  9.99494988e-01  2.06274479e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.04650248099999
Centerline is valid?  [True, True]
Translation: X:64.33, Y:6.46, Z:2.06
[[ 9.88399907e-01 -1.48571020e-01 -3.15003964e-02  6.43334076e+01]
 [ 1.48513131e-01  9.88901591e-01 -4.18258710e-03  6.45555392e+00]
 [ 3.17722034e-02 -5.44153781e-04  9.99494988e-01  2.06460886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.10650248099998
Centerline is valid?  [True, True]
Translation: X:64.39, Y:6.47, Z:2.07
[[ 9.88482710e-01 -1.48019391e-01 -3.14990663e-02  6.43920244e+01]
 [ 1.47960904e-01  9.88984324e-01 -4.19258071e-03  6.46536762e+00]
 [ 3.17726660e-02 -5.16336759e-04  9.99494988e-01  2.06649115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.16650248099998
Centerline is valid?  [True, True]
Translation: X:64.45, Y:6.48, Z:2.07
[[ 9.88202678e-01 -1.49877594e-01 -3.14987838e-02  6.44497268e+01]
 [ 1.49819982e-01  9.88704393e-01 -4.19470186e-03  6.47766588e+00]
 [ 3.17716777e-02 -5.73931615e-04  9.99494988e-01  2.06835992e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.22650248099998
Centerline is valid?  [True, True]
Translation: X:64.51, Y:6.49, Z:2.07
[[ 9.88084669e-01 -1.50653898e-01 -3.14974540e-02  6.45066361e+01]
 [ 1.50596363e-01  9.88586393e-01 -4.20466334e-03  6.48809450e+00]
 [ 3.17714034e-02 -5.88838633e-04  9.99494988e-01  2.07019109e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.28650248099999
Centerline is valid?  [True, True]
Translation: X:64.56, Y:6.50, Z:2.07
[[ 9.87753631e-01 -1.52809374e-01 -3.14969886e-02  6.45645821e+01]
 [ 1.52752823e-01  9.88255466e-01 -4.20814664e-03  6.49877431e+00]
 [ 3.17701154e-02 -6.54641796e-04  9.99494988e-01  2.07205998e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.34650248099999
Centerline is valid?  [True, True]
Translation: X:64.62, Y:6.51, Z:2.07
[[ 9.87875268e-01 -1.52021304e-01 -3.14956709e-02  6.46223530e+01]
 [ 1.51964039e-01  9.88377023e-01 -4.21798575e-03  6.50952483e+00]
 [ 3.17708212e-02 -6.19365557e-04  9.99494988e-01  2.07391982e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.40650248099999
Centerline is valid?  [True, True]
Translation: X:64.68, Y:6.52, Z:2.08
[[ 9.88216758e-01 -1.49785673e-01 -3.14942986e-02  6.46805993e+01]
 [ 1.49726947e-01  9.88718344e-01 -4.22820780e-03  6.52018354e+00]
 [ 3.17723157e-02 -5.37159371e-04  9.99494988e-01  2.07579407e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.46650248099998
Centerline is valid?  [True, True]
Translation: X:64.74, Y:6.53, Z:2.08
[[ 9.88626286e-01 -1.47058715e-01 -3.14928797e-02  6.47375783e+01]
 [ 1.46998270e-01  9.89127667e-01 -4.23874975e-03  6.53073156e+00]
 [ 3.17738237e-02 -4.38859416e-04  9.99494988e-01  2.07762779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.52650248099998
Centerline is valid?  [True, True]
Translation: X:64.79, Y:6.54, Z:2.08
[[ 9.88877883e-01 -1.45357412e-01 -3.14921546e-02  6.47938738e+01]
 [ 1.45295933e-01  9.89379138e-01 -4.24413000e-03  6.54415312e+00]
 [ 3.17745966e-02 -3.78755705e-04  9.99494988e-01  2.07945532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.58650248099998
Centerline is valid?  [True, True]
Translation: X:64.85, Y:6.55, Z:2.08
[[ 9.89544110e-01 -1.40750590e-01 -3.14916760e-02  6.48537368e+01]
 [ 1.40686664e-01  9.90045059e-01 -4.24767864e-03  6.54801913e+00]
 [ 3.17760415e-02 -2.27193454e-04  9.99494988e-01  2.08135578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.64650248099998
Centerline is valid?  [True, True]
Translation: X:64.91, Y:6.56, Z:2.08
[[ 9.89892157e-01 -1.38281611e-01 -3.14914859e-02  6.49124497e+01]
 [ 1.38216391e-01  9.90392939e-01 -4.24908743e-03  6.56050276e+00]
 [ 3.17765159e-02 -1.46501204e-04  9.99494988e-01  2.08325790e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.70650248099999
Centerline is valid?  [True, True]
Translation: X:64.97, Y:6.57, Z:2.09
[[ 9.90590755e-01 -1.33185015e-01 -3.14913925e-02  6.49705770e+01]
 [ 1.33117196e-01  9.91091192e-01 -4.24977986e-03  6.56964142e+00]
 [ 3.17768487e-02  1.77467682e-05  9.99494988e-01  2.08512778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.76650248099999
Centerline is valid?  [True, True]
Translation: X:65.03, Y:6.58, Z:2.09
[[ 9.91004643e-01 -1.30069870e-01 -3.14900921e-02  6.50289852e+01]
 [ 1.30000172e-01  9.91504822e-01 -4.25939349e-03  6.57839964e+00]
 [ 3.17765969e-02  1.27361333e-04  9.99494988e-01  2.08699961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 64.82650248099999
Centerline is valid?  [True, True]
Translation: X:65.09, Y:6.59, Z:2.09
[[ 9.91110370e-01 -1.29261820e-01 -3.14899378e-02  6.50873786e+01]
 [ 1.29191679e-01  9.91610487e-01 -4.26053394e-03  6.58899111e+00]
 [ 3.17764769e-02  1.54421449e-04  9.99494988e-01  2.08888382e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.88650248099998
Centerline is valid?  [True, True]
Translation: X:65.14, Y:6.60, Z:2.09
[[ 9.90706166e-01 -1.32324433e-01 -3.14886691e-02  6.51446747e+01]
 [ 1.32255540e-01  9.91206457e-01 -4.26989013e-03  6.59604106e+00]
 [ 3.17767829e-02  6.56555538e-05  9.99494988e-01  2.09071351e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.94650248099998
Centerline is valid?  [True, True]
Translation: X:65.20, Y:6.61, Z:2.09
[[ 9.90687200e-01 -1.32466716e-01 -3.14871542e-02  6.52041267e+01]
 [ 1.32397541e-01  9.91187451e-01 -4.28103225e-03  6.60664242e+00]
 [ 3.17767664e-02  7.23420634e-05  9.99494988e-01  2.09262525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.00650248099998
Centerline is valid?  [True, True]
Translation: X:65.26, Y:6.61, Z:2.09
[[ 9.91300765e-01 -1.27794230e-01 -3.14869409e-02  6.52609623e+01]
 [ 1.27722647e-01  9.91800678e-01 -4.28260072e-03  6.61421243e+00]
 [ 3.17760610e-02  2.23749940e-04  9.99494988e-01  2.09444725e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.06650248099999
Centerline is valid?  [True, True]
Translation: X:65.32, Y:6.62, Z:2.10
[[ 9.91176290e-01 -1.28756316e-01 -3.14860732e-02  6.53193927e+01]
 [ 1.28685017e-01  9.91676243e-01 -4.28897043e-03  6.62494232e+00]
 [ 3.17762228e-02  1.99339951e-04  9.99494988e-01  2.09633022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.12650248099999
Centerline is valid?  [True, True]
Translation: X:65.38, Y:6.63, Z:2.10
[[ 9.91403045e-01 -1.26998884e-01 -3.14846945e-02  6.53774957e+01]
 [ 1.26926377e-01  9.91902824e-01 -4.29906721e-03  6.63171203e+00]
 [ 3.17757342e-02  2.65870106e-04  9.99494988e-01  2.09818370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.18650248099999
Centerline is valid?  [True, True]
Translation: X:65.44, Y:6.64, Z:2.10
[[ 9.91355532e-01 -1.27369420e-01 -3.14839698e-02  6.54369589e+01]
 [ 1.27296932e-01  9.91855314e-01 -4.30436854e-03  6.63878281e+00]
 [ 3.17757876e-02  2.59346804e-04  9.99494989e-01  2.10008411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.24650248099998
Centerline is valid?  [True, True]
Translation: X:65.50, Y:6.65, Z:2.10
[[ 9.91547934e-01 -1.25862886e-01 -3.14837757e-02  6.54962520e+01]
 [ 1.25789593e-01  9.92047599e-01 -4.30578743e-03  6.64905412e+00]
 [ 3.17753429e-02  3.09063305e-04  9.99494989e-01  2.10199524e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.30650248099998
Centerline is valid?  [True, True]
Translation: X:65.56, Y:6.65, Z:2.10
[[ 9.91646761e-01 -1.25081919e-01 -3.14835786e-02  6.55555980e+01]
 [ 1.25008187e-01  9.92146361e-01 -4.30722808e-03  6.65315348e+00]
 [ 3.17750743e-02  3.35543677e-04  9.99494989e-01  2.10388143e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.36650248099998
Centerline is valid?  [True, True]
Translation: X:65.61, Y:6.66, Z:2.11
[[ 9.91417728e-01 -1.26884822e-01 -3.14822234e-02  6.56139715e+01]
 [ 1.26811684e-01  9.91917416e-01 -4.31711090e-03  6.66222013e+00]
 [ 3.17755415e-02  2.87746500e-04  9.99494989e-01  2.10575341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.42650248099999
Centerline is valid?  [True, True]
Translation: X:65.67, Y:6.67, Z:2.11
[[ 9.90767446e-01 -1.31866691e-01 -3.14808533e-02  6.56725571e+01]
 [ 1.31795749e-01  9.91267450e-01 -4.32707862e-03  6.67115917e+00]
 [ 3.17765427e-02  1.38085977e-04  9.99494989e-01  2.10763148e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.48650248099999
Centerline is valid?  [True, True]
Translation: X:65.73, Y:6.68, Z:2.11
[[ 9.90595111e-01 -1.33155149e-01 -3.14806540e-02  6.57314634e+01]
 [ 1.33084812e-01  9.91095201e-01 -4.32852812e-03  6.67623008e+00]
 [ 3.17766909e-02  9.82218688e-05  9.99494989e-01  2.10950793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.54650248099999
Centerline is valid?  [True, True]
Translation: X:65.79, Y:6.69, Z:2.11
[[ 9.90545000e-01 -1.33527730e-01 -3.14793215e-02  6.57900405e+01]
 [ 1.33457274e-01  9.91045073e-01 -4.33819754e-03  6.68533492e+00]
 [ 3.17766961e-02  9.60354687e-05  9.99494989e-01  2.11138663e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.60650248099998
Centerline is valid?  [True, True]
Translation: X:65.85, Y:6.69, Z:2.11
[[ 9.90722527e-01 -1.32204278e-01 -3.14786078e-02  6.58491276e+01]
 [ 1.32132990e-01  9.91222482e-01 -4.34337010e-03  6.69104566e+00]
 [ 3.17765158e-02  1.43712050e-04  9.99494989e-01  2.11326930e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.66650248099998
Centerline is valid?  [True, True]
Translation: X:65.91, Y:6.70, Z:2.12
[[ 9.90990870e-01 -1.30177619e-01 -3.14783093e-02  6.59067052e+01]
 [ 1.30105239e-01  9.91490667e-01 -4.34553206e-03  6.70090408e+00]
 [ 3.17761409e-02  2.10889627e-04  9.99494989e-01  2.11512424e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.72650248099998
Centerline is valid?  [True, True]
Translation: X:65.97, Y:6.71, Z:2.12
[[ 9.91227976e-01 -1.28360049e-01 -3.14769417e-02  6.59653645e+01]
 [ 1.28286439e-01  9.91727594e-01 -4.35541602e-03  6.70816476e+00]
 [ 3.17756131e-02  2.79145449e-04  9.99494989e-01  2.11699737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.78650248099999
Centerline is valid?  [True, True]
Translation: X:66.02, Y:6.72, Z:2.12
[[ 9.91458691e-01 -1.26566004e-01 -3.14755607e-02  6.60232474e+01]
 [ 1.26491174e-01  9.91958127e-01 -4.36537342e-03  6.71606693e+00]
 [ 3.17749461e-02  3.46706789e-04  9.99494989e-01  2.11884879e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.84650248099999
Centerline is valid?  [True, True]
Translation: X:66.08, Y:6.73, Z:2.12
[[ 9.91720256e-01 -1.24500237e-01 -3.14742058e-02  6.60823641e+01]
 [ 1.24424058e-01  9.92219488e-01 -4.37512021e-03  6.72518914e+00]
 [ 3.17740239e-02  4.22746927e-04  9.99494989e-01  2.12074452e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.90650248099999
Centerline is valid?  [True, True]
Translation: X:66.14, Y:6.74, Z:2.12
[[ 9.91999368e-01 -1.22256457e-01 -3.14740124e-02  6.61391927e+01]
 [ 1.22179104e-01  9.92498420e-01 -4.37651158e-03  6.73550285e+00]
 [ 3.17729643e-02  4.96030099e-04  9.99494989e-01  2.12257838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.96650248099998
Centerline is valid?  [True, True]
Translation: X:66.20, Y:6.75, Z:2.12
[[ 9.91621109e-01 -1.25287642e-01 -3.14735386e-02  6.61960759e+01]
 [ 1.25211707e-01  9.92120378e-01 -4.37991578e-03  6.74612197e+00]
 [ 3.17742884e-02  4.02361442e-04  9.99494989e-01  2.12441413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 66.02650248099998
Centerline is valid?  [True, True]
Translation: X:66.25, Y:6.75, Z:2.13
[[ 9.91324434e-01 -1.27614165e-01 -3.14720829e-02  6.62546442e+01]
 [ 1.27539071e-01  9.91823830e-01 -4.39035098e-03  6.75453923e+00]
 [ 3.17750328e-02  3.38341994e-04  9.99494989e-01  2.12628916e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.08650248099998
Centerline is valid?  [True, True]
Translation: X:66.31, Y:6.77, Z:2.13
[[ 9.90326669e-01 -1.35139471e-01 -3.14708108e-02  6.63121209e+01]
 [ 1.35067882e-01  9.90826580e-01 -4.39945114e-03  6.76963243e+00]
 [ 3.17766553e-02  1.06198046e-04  9.99494989e-01  2.12815998e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.14650248099998
Centerline is valid?  [True, True]
Translation: X:66.37, Y:6.78, Z:2.13
[[ 9.89716995e-01 -1.39534738e-01 -3.14694519e-02  6.63713535e+01]
 [ 1.39465061e-01  9.90217176e-01 -4.40915003e-03  6.77907513e+00]
 [ 3.17768214e-02 -2.50782924e-05  9.99494989e-01  2.13006096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.20650248099999
Centerline is valid?  [True, True]
Translation: X:66.43, Y:6.79, Z:2.13
[[ 9.89381663e-01 -1.41892935e-01 -3.14693534e-02  6.64283942e+01]
 [ 1.41824427e-01  9.89882006e-01 -4.40985258e-03  6.78608360e+00]
 [ 3.17766736e-02 -1.00095746e-04  9.99494989e-01  2.13188741e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.26650248099999
Centerline is valid?  [True, True]
Translation: X:66.49, Y:6.80, Z:2.13
[[ 9.89153617e-01 -1.43474197e-01 -3.14686748e-02  6.64860419e+01]
 [ 1.43406335e-01  9.89654047e-01 -4.41468986e-03  6.79841260e+00]
 [ 3.17764955e-02 -1.46000879e-04  9.99494989e-01  2.13375406e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.32650248099998
Centerline is valid?  [True, True]
Translation: X:66.54, Y:6.81, Z:2.14
[[ 9.89233662e-01 -1.42921542e-01 -3.14673535e-02  6.65446334e+01]
 [ 1.42853101e-01  9.89734014e-01 -4.42408793e-03  6.80766591e+00]
 [ 3.17766076e-02 -1.18752335e-04  9.99494989e-01  2.13563424e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.38650248099998
Centerline is valid?  [True, True]
Translation: X:66.60, Y:6.81, Z:2.14
[[ 9.89097770e-01 -1.43859303e-01 -3.14658896e-02  6.66020547e+01]
 [ 1.43791007e-01  9.89598141e-01 -4.43447539e-03  6.81390390e+00]
 [ 3.17765264e-02 -1.38382237e-04  9.99494989e-01  2.13746365e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.44650248099998
Centerline is valid?  [True, True]
Translation: X:66.66, Y:6.82, Z:2.14
[[ 9.88708505e-01 -1.46510823e-01 -3.14653781e-02  6.66619603e+01]
 [ 1.46443753e-01  9.89209043e-01 -4.43810222e-03  6.82074462e+00]
 [ 3.17760665e-02 -2.19918654e-04  9.99494989e-01  2.13937783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.50650248099998
Centerline is valid?  [True, True]
Translation: X:66.72, Y:6.83, Z:2.14
[[ 9.88963557e-01 -1.44779221e-01 -3.14652291e-02  6.67189229e+01]
 [ 1.44711241e-01  9.89463971e-01 -4.43915782e-03  6.83278544e+00]
 [ 3.17764084e-02 -1.63207050e-04  9.99494989e-01  2.14122394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.56650248099999
Centerline is valid?  [True, True]
Translation: X:66.78, Y:6.84, Z:2.14
[[ 9.89414458e-01 -1.41665098e-01 -3.14647336e-02  6.67773734e+01]
 [ 1.41595432e-01  9.89914641e-01 -4.44266719e-03  6.84171759e+00]
 [ 3.17767714e-02 -5.96233860e-05  9.99494989e-01  2.14310167e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.62650248099999
Centerline is valid?  [True, True]
Translation: X:66.84, Y:6.85, Z:2.14
[[ 9.89166502e-01 -1.43386501e-01 -3.14633399e-02  6.68366579e+01]
 [ 1.43317392e-01  9.89666762e-01 -4.45251594e-03  6.84875196e+00]
 [ 3.17766524e-02 -1.04964198e-04  9.99494989e-01  2.14499356e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.68650248099999
Centerline is valid?  [True, True]
Translation: X:66.89, Y:6.86, Z:2.15
[[ 9.88439316e-01 -1.48316519e-01 -3.14631356e-02  6.68944330e+01]
 [ 1.48249859e-01  9.88939908e-01 -4.45395891e-03  6.86269273e+00]
 [ 3.17757461e-02 -2.61937320e-04  9.99494989e-01  2.14687355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.74650248099998
Centerline is valid?  [True, True]
Translation: X:66.95, Y:6.87, Z:2.15
[[ 9.88229016e-01 -1.49711631e-01 -3.14617061e-02  6.69528041e+01]
 [ 1.49645357e-01  9.88729659e-01 -4.46403361e-03  6.87148085e+00]
 [ 3.17754397e-02 -2.96610705e-04  9.99494989e-01  2.14874442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.80650248099998
Centerline is valid?  [True, True]
Translation: X:67.01, Y:6.89, Z:2.15
[[ 9.87813690e-01 -1.52428236e-01 -3.14602348e-02  6.70102420e+01]
 [ 1.52363009e-01  9.88314471e-01 -4.47437887e-03  6.88508492e+00]
 [ 3.17746270e-02 -3.73523328e-04  9.99494989e-01  2.15060732e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.86650248099998
Centerline is valid?  [True, True]
Translation: X:67.07, Y:6.89, Z:2.15
[[ 9.88063850e-01 -1.50798464e-01 -3.14587399e-02  6.70697814e+01]
 [ 1.50732077e-01  9.88564478e-01 -4.48486476e-03  6.89462903e+00]
 [ 3.17753035e-02 -3.10508474e-04  9.99494989e-01  2.15251818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.92650248099999
Centerline is valid?  [True, True]
Translation: X:67.13, Y:6.90, Z:2.15
[[ 9.88661093e-01 -1.46831871e-01 -3.14586344e-02  6.71269422e+01]
 [ 1.46763452e-01  9.89161447e-01 -4.48560493e-03  6.90252247e+00]
 [ 3.17762981e-02 -1.82234706e-04  9.99494989e-01  2.15435229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.98650248099999
Centerline is valid?  [True, True]
Translation: X:67.18, Y:6.92, Z:2.16
[[ 9.88238599e-01 -1.49649373e-01 -3.14569036e-02  6.71834231e+01]
 [ 1.49581995e-01  9.88739095e-01 -4.49771014e-03  6.91508221e+00]
 [ 3.17757498e-02 -2.60575636e-04  9.99494989e-01  2.15617956e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.04650248099999
Centerline is valid?  [True, True]
Translation: X:67.24, Y:6.92, Z:2.16
[[ 9.88504223e-01 -1.47884800e-01 -3.14561278e-02  6.72415750e+01]
 [ 1.47816356e-01  9.89004574e-01 -4.50312885e-03  6.92496020e+00]
 [ 3.17761986e-02 -1.98368318e-04  9.99494989e-01  2.15805117e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.10650248099998
Centerline is valid?  [True, True]
Translation: X:67.30, Y:6.94, Z:2.16
[[ 9.89407987e-01 -1.41712527e-01 -3.14546591e-02  6.73006324e+01]
 [ 1.41640636e-01  9.89907854e-01 -4.51336516e-03  6.93522083e+00]
 [ 3.17768144e-02  1.03016167e-05  9.99494989e-01  2.15995033e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.16650248099998
Centerline is valid?  [True, True]
Translation: X:67.36, Y:6.95, Z:2.16
[[ 9.89967383e-01 -1.37750473e-01 -3.14545331e-02  6.73590831e+01]
 [ 1.37676554e-01  9.90466955e-01 -4.51424289e-03  6.94690978e+00]
 [ 3.17765147e-02  1.38401484e-04  9.99494989e-01  2.16184210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 67.22650248099998
Centerline is valid?  [True, True]
Translation: X:67.42, Y:6.95, Z:2.16
[[ 9.91093597e-01 -1.29399303e-01 -3.14531890e-02  6.74172215e+01]
 [ 1.29320879e-01  9.91592481e-01 -4.52358872e-03  6.95354492e+00]
 [ 3.17740949e-02  4.15745771e-04  9.99494990e-01  2.16369649e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.28650248099999
Centerline is valid?  [True, True]
Translation: X:67.48, Y:6.96, Z:2.17
[[ 9.91865440e-01 -1.23343744e-01 -3.14526634e-02  6.74756920e+01]
 [ 1.23262158e-01  9.92363817e-01 -4.52723979e-03  6.96019670e+00]
 [ 3.17708918e-02  6.13489508e-04  9.99494990e-01  2.16556457e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.34650248099999
Centerline is valid?  [True, True]
Translation: X:67.53, Y:6.97, Z:2.17
[[ 9.92497603e-01 -1.18149252e-01 -3.14525292e-02  6.75338574e+01]
 [ 1.18065028e-01  9.92995541e-01 -4.52817207e-03  6.97368208e+00]
 [ 3.17672214e-02  7.80756172e-04  9.99494990e-01  2.16745551e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.40650248099999
Centerline is valid?  [True, True]
Translation: X:67.59, Y:6.98, Z:2.17
[[ 9.93925446e-01 -1.05465771e-01 -3.14512313e-02  6.75935977e+01]
 [ 1.05374911e-01  9.94422215e-01 -4.53716942e-03  6.97732615e+00]
 [ 3.17543191e-02  1.19543743e-03  9.99494990e-01  2.16934691e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.46650248099998
Centerline is valid?  [True, True]
Translation: X:67.65, Y:6.98, Z:2.17
[[ 9.94166266e-01 -1.03171057e-01 -3.14510586e-02  6.76511750e+01]
 [ 1.03079014e-01  9.94662817e-01 -4.53836585e-03  6.98412408e+00]
 [ 3.17514266e-02  1.26994613e-03  9.99494990e-01  2.17118889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.52650248099998
Centerline is valid?  [True, True]
Translation: X:67.71, Y:6.99, Z:2.17
[[ 9.94371338e-01 -1.01175700e-01 -3.14502920e-02  6.77105125e+01]
 [ 1.01082492e-01  9.94867672e-01 -4.54367192e-03  6.99185641e+00]
 [ 3.17485880e-02  1.33902323e-03  9.99494990e-01  2.17308819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.58650248099998
Centerline is valid?  [True, True]
Translation: X:67.77, Y:6.99, Z:2.17
[[ 9.94302658e-01 -1.01848475e-01 -3.14501620e-02  6.77708590e+01]
 [ 1.01755575e-01  9.94799050e-01 -4.54457188e-03  6.99206520e+00]
 [ 3.17494490e-02  1.31845060e-03  9.99494990e-01  2.17498750e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.64650248099998
Centerline is valid?  [True, True]
Translation: X:67.83, Y:7.00, Z:2.18
[[ 9.94140714e-01 -1.03417282e-01 -3.14500615e-02  6.78293363e+01]
 [ 1.03325143e-01  9.94637248e-01 -4.54526726e-03  7.00354348e+00]
 [ 3.17514618e-02  1.26905313e-03  9.99494990e-01  2.17687934e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.70650248099999
Centerline is valid?  [True, True]
Translation: X:67.89, Y:7.01, Z:2.18
[[ 9.94042617e-01 -1.04356032e-01 -3.14498583e-02  6.78881259e+01]
 [ 1.04264318e-01  9.94539230e-01 -4.54667253e-03  7.00925977e+00]
 [ 3.17525906e-02  1.24048825e-03  9.99494990e-01  2.17875440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.76650248099999
Centerline is valid?  [True, True]
Translation: X:67.95, Y:7.01, Z:2.18
[[ 9.93413658e-01 -1.10183029e-01 -3.14484489e-02  6.79473754e+01]
 [ 1.10093921e-01  9.93910744e-01 -4.55640048e-03  7.01279815e+00]
 [ 3.17589893e-02  1.06410742e-03  9.99494990e-01  2.18062922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.82650248099998
Centerline is valid?  [True, True]
Translation: X:68.01, Y:7.02, Z:2.18
[[ 9.92741288e-01 -1.16085065e-01 -3.14482491e-02  6.80065591e+01]
 [ 1.15998870e-01  9.93238888e-01 -4.55777925e-03  7.02381712e+00]
 [ 3.17647141e-02  8.76734300e-04  9.99494990e-01  2.18254084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.88650248099998
Centerline is valid?  [True, True]
Translation: X:68.07, Y:7.03, Z:2.18
[[ 9.91689288e-01 -1.24753232e-01 -3.14481573e-02  6.80666611e+01]
 [ 1.24671367e-01  9.92187619e-01 -4.55841235e-03  7.02940485e+00]
 [ 3.17711490e-02  5.99843947e-04  9.99494990e-01  2.18445701e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.94650248099998
Centerline is valid?  [True, True]
Translation: X:68.12, Y:7.04, Z:2.19
[[ 9.91591643e-01 -1.25527021e-01 -3.14480576e-02  6.81244678e+01]
 [ 1.25445523e-01  9.92090034e-01 -4.55909992e-03  7.03771976e+00]
 [ 3.17715948e-02  5.75747348e-04  9.99494990e-01  2.18631337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.00650248099998
Centerline is valid?  [True, True]
Translation: X:68.18, Y:7.05, Z:2.19
[[ 9.90580330e-01 -1.33273139e-01 -3.14464620e-02  6.81827310e+01]
 [ 1.33195189e-01  9.91079288e-01 -4.57007930e-03  7.04659165e+00]
 [ 3.17750060e-02  3.38513196e-04  9.99494990e-01  2.18818069e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.06650248099999
Centerline is valid?  [True, True]
Translation: X:68.24, Y:7.06, Z:2.19
[[ 9.89942872e-01 -1.37928691e-01 -3.14449881e-02  6.82412311e+01]
 [ 1.37852766e-01  9.90442142e-01 -4.58019874e-03  7.05701954e+00]
 [ 3.17761821e-02  1.99356497e-04  9.99494990e-01  2.19006309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.12650248099999
Centerline is valid?  [True, True]
Translation: X:68.30, Y:7.07, Z:2.19
[[ 9.89488700e-01 -1.41150310e-01 -3.14436338e-02  6.82987345e+01]
 [ 1.41075717e-01  9.89988171e-01 -4.58947696e-03  7.06582682e+00]
 [ 3.17766316e-02  1.05302410e-04  9.99494990e-01  2.19190722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.18650248099999
Centerline is valid?  [True, True]
Translation: X:68.36, Y:7.08, Z:2.19
[[ 9.89030163e-01 -1.44328387e-01 -3.14428628e-02  6.83572560e+01]
 [ 1.44255230e-01  9.89529846e-01 -4.59475311e-03  7.07708777e+00]
 [ 3.17768045e-02  8.55200191e-06  9.99494990e-01  2.19379696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.24650248099998
Centerline is valid?  [True, True]
Translation: X:68.41, Y:7.09, Z:2.20
[[ 9.89300492e-01 -1.42463663e-01 -3.14426606e-02  6.84145174e+01]
 [ 1.42389521e-01  9.89800030e-01 -4.59613627e-03  7.09307627e+00]
 [ 3.17767288e-02  6.98544949e-05  9.99494990e-01  2.19567105e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.30650248099998
Centerline is valid?  [True, True]
Translation: X:68.47, Y:7.10, Z:2.20
[[ 9.89762054e-01 -1.39220888e-01 -3.14423503e-02  6.84716971e+01]
 [ 1.39145042e-01  9.90261336e-01 -4.59825838e-03  7.10202475e+00]
 [ 3.17763174e-02  1.76134515e-04  9.99494990e-01  2.19750980e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.36650248099998
Centerline is valid?  [True, True]
Translation: X:68.53, Y:7.12, Z:2.20
[[ 9.90261182e-01 -1.35625224e-01 -3.14418439e-02  6.85295158e+01]
 [ 1.35547455e-01  9.90760169e-01 -4.60171806e-03  7.11570592e+00]
 [ 3.17754356e-02  2.95040823e-04  9.99494990e-01  2.19938967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 68.42650248099999
Centerline is valid?  [True, True]
Translation: X:68.59, Y:7.12, Z:2.20
[[ 9.90617068e-01 -1.33001232e-01 -3.14403833e-02  6.85866650e+01]
 [ 1.32921825e-01  9.91115796e-01 -4.61167581e-03  7.12395958e+00]
 [ 3.17744191e-02  3.89291629e-04  9.99494990e-01  2.20121988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.48650248099999
Centerline is valid?  [True, True]
Translation: X:68.65, Y:7.14, Z:2.20
[[ 9.90958721e-01 -1.30431675e-01 -3.14386902e-02  6.86460031e+01]
 [ 1.30350610e-01  9.91457182e-01 -4.62318968e-03  7.13501708e+00]
 [ 3.17731256e-02  4.83337675e-04  9.99494990e-01  2.20313103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.54650248099999
Centerline is valid?  [True, True]
Translation: X:68.70, Y:7.14, Z:2.20
[[ 9.91620498e-01 -1.25301249e-01 -3.14385861e-02  6.87028087e+01]
 [ 1.25217583e-01  9.92118529e-01 -4.62389706e-03  7.14308004e+00]
 [ 3.17701839e-02  6.48487326e-04  9.99494990e-01  2.20495472e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.60650248099998
Centerline is valid?  [True, True]
Translation: X:68.76, Y:7.15, Z:2.21
[[ 9.92346850e-01 -1.19412655e-01 -3.14379743e-02  6.87610315e+01]
 [ 1.19325903e-01  9.92844353e-01 -4.62805324e-03  7.15201913e+00]
 [ 3.17656634e-02  8.41269395e-04  9.99494990e-01  2.20682512e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.66650248099998
Centerline is valid?  [True, True]
Translation: X:68.82, Y:7.16, Z:2.21
[[ 9.92591142e-01 -1.17365106e-01 -3.14365545e-02  6.88194019e+01]
 [ 1.17277022e-01  9.93088411e-01 -4.63767727e-03  7.16003091e+00]
 [ 3.17635794e-02  9.16531872e-04  9.99494990e-01  2.20869281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.72650248099998
Centerline is valid?  [True, True]
Translation: X:68.88, Y:7.16, Z:2.21
[[ 9.92504278e-01 -1.18097810e-01 -3.14350968e-02  6.88786392e+01]
 [ 1.18009782e-01  9.93001557e-01 -4.64753680e-03  7.16448415e+00]
 [ 3.17639640e-02  9.03051245e-04  9.99494990e-01  2.21057108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.78650248099999
Centerline is valid?  [True, True]
Translation: X:68.94, Y:7.17, Z:2.21
[[ 9.92640161e-01 -1.16950587e-01 -3.14335891e-02  6.89371657e+01]
 [ 1.16861663e-01  9.93137280e-01 -4.65771207e-03  7.17262483e+00]
 [ 3.17625913e-02  9.50050577e-04  9.99494990e-01  2.21244390e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.84650248099999
Centerline is valid?  [True, True]
Translation: X:69.00, Y:7.18, Z:2.21
[[ 9.92731929e-01 -1.16169127e-01 -3.14332696e-02  6.89957982e+01]
 [ 1.16079743e-01  9.93228966e-01 -4.65986688e-03  7.17990952e+00]
 [ 3.17617666e-02  9.77232795e-04  9.99494990e-01  2.21432058e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.90650248099999
Centerline is valid?  [True, True]
Translation: X:69.05, Y:7.19, Z:2.22
[[ 9.92390123e-01 -1.19054126e-01 -3.14318021e-02  6.90538081e+01]
 [ 1.18965874e-01  9.92887362e-01 -4.66974508e-03  7.18658175e+00]
 [ 3.17641915e-02  8.94897076e-04  9.99494990e-01  2.21617044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.96650248099998
Centerline is valid?  [True, True]
Translation: X:69.11, Y:7.19, Z:2.22
[[ 9.92004333e-01 -1.22227100e-01 -3.14314943e-02  6.91134045e+01]
 [ 1.22140373e-01  9.92501840e-01 -4.67181556e-03  7.19295930e+00]
 [ 3.17668384e-02  7.95406828e-04  9.99494990e-01  2.21807322e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.02650248099998
Centerline is valid?  [True, True]
Translation: X:69.17, Y:7.20, Z:2.22
[[ 9.91675174e-01 -1.24869601e-01 -3.14313888e-02  6.91719459e+01]
 [ 1.24784178e-01  9.92172907e-01 -4.67252512e-03  7.19819766e+00]
 [ 3.17688288e-02  7.11487153e-04  9.99494990e-01  2.21993827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.08650248099998
Centerline is valid?  [True, True]
Translation: X:69.23, Y:7.20, Z:2.22
[[ 9.91499289e-01 -1.26258683e-01 -3.14309627e-02  6.92304240e+01]
 [ 1.26173867e-01  9.91997125e-01 -4.67538976e-03  7.20454873e+00]
 [ 3.17697332e-02  6.69879520e-04  9.99494990e-01  2.22180529e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.14650248099998
Centerline is valid?  [True, True]
Translation: X:69.29, Y:7.21, Z:2.22
[[ 9.91051818e-01 -1.29724355e-01 -3.14306491e-02  6.92885893e+01]
 [ 1.29641212e-01  9.91549937e-01 -4.67749687e-03  7.21039083e+00]
 [ 3.17718434e-02  5.60934317e-04  9.99494990e-01  2.22366051e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.20650248099999
Centerline is valid?  [True, True]
Translation: X:69.35, Y:7.22, Z:2.23
[[ 9.90495651e-01 -1.33904927e-01 -3.14298633e-02  6.93479385e+01]
 [ 1.33823720e-01  9.90994089e-01 -4.68277101e-03  7.21688281e+00]
 [ 3.17738549e-02  4.32203098e-04  9.99494990e-01  2.22555415e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.26650248099999
Centerline is valid?  [True, True]
Translation: X:69.41, Y:7.22, Z:2.23
[[ 9.89969567e-01 -1.37740434e-01 -3.14297621e-02  6.94052802e+01]
 [ 1.37661136e-01  9.90468312e-01 -4.68345021e-03  7.22360455e+00]
 [ 3.17752839e-02  3.09816405e-04  9.99494990e-01  2.22738840e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.32650248099998
Centerline is valid?  [True, True]
Translation: X:69.46, Y:7.23, Z:2.23
[[ 9.89652158e-01 -1.40003152e-01 -3.14280665e-02  6.94630872e+01]
 [ 1.39924634e-01  9.90151027e-01 -4.69480146e-03  7.22992726e+00]
 [ 3.17758193e-02  2.48659711e-04  9.99494990e-01  2.22922914e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.38650248099998
Centerline is valid?  [True, True]
Translation: X:69.52, Y:7.24, Z:2.23
[[ 9.89559539e-01 -1.40656416e-01 -3.14275469e-02  6.95209494e+01]
 [ 1.40578117e-01  9.90058442e-01 -4.69827709e-03  7.23970236e+00]
 [ 3.17759509e-02  2.31199560e-04  9.99494990e-01  2.23109244e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.44650248099998
Centerline is valid?  [True, True]
Translation: X:69.58, Y:7.25, Z:2.23
[[ 9.89579431e-01 -1.40516496e-01 -3.14271354e-02  6.95809336e+01]
 [ 1.40438039e-01  9.90078309e-01 -4.70102798e-03  7.24739911e+00]
 [ 3.17758970e-02  2.38475322e-04  9.99494990e-01  2.23301311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.50650248099998
Centerline is valid?  [True, True]
Translation: X:69.64, Y:7.26, Z:2.23
[[ 9.89486116e-01 -1.41172101e-01 -3.14271229e-02  6.96398532e+01]
 [ 1.41093972e-01  9.89985046e-01 -4.70111145e-03  7.25563829e+00]
 [ 3.17760475e-02  2.17506901e-04  9.99494990e-01  2.23490442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.56650248099999
Centerline is valid?  [True, True]
Translation: X:69.70, Y:7.27, Z:2.24
[[ 9.89410084e-01 -1.41704036e-01 -3.14269149e-02  6.96969213e+01]
 [ 1.41626132e-01  9.89909049e-01 -4.70250165e-03  7.26572319e+00]
 [ 3.17761509e-02  2.01830168e-04  9.99494990e-01  2.23674543e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 69.62650248099999
Centerline is valid?  [True, True]
Translation: X:69.76, Y:7.28, Z:2.24
[[ 9.89524902e-01 -1.40900402e-01 -3.14252469e-02  6.97554504e+01]
 [ 1.40821738e-01  9.90023747e-01 -4.71362186e-03  7.27531604e+00]
 [ 3.17758919e-02  2.38888307e-04  9.99494990e-01  2.23862437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.68650248099998
Centerline is valid?  [True, True]
Translation: X:69.81, Y:7.28, Z:2.24
[[ 9.89905612e-01 -1.38200366e-01 -3.14251139e-02  6.98135314e+01]
 [ 1.38120314e-01  9.90404237e-01 -4.71450866e-03  7.28310106e+00]
 [ 3.17751127e-02  3.26471982e-04  9.99494990e-01  2.24048669e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.74650248099998
Centerline is valid?  [True, True]
Translation: X:69.87, Y:7.29, Z:2.24
[[ 9.90249548e-01 -1.35714375e-01 -3.14235699e-02  6.98710161e+01]
 [ 1.35632745e-01  9.90747917e-01 -4.72477746e-03  7.29206800e+00]
 [ 3.17740566e-02  4.16643703e-04  9.99494990e-01  2.24233034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.80650248099998
Centerline is valid?  [True, True]
Translation: X:69.93, Y:7.30, Z:2.24
[[ 9.90684116e-01 -1.32504974e-01 -3.14231392e-02  6.99288249e+01]
 [ 1.32421639e-01  9.91182203e-01 -4.72763984e-03  7.30153341e+00]
 [ 3.17724921e-02  5.22494095e-04  9.99494990e-01  2.24419088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.86650248099998
Centerline is valid?  [True, True]
Translation: X:69.99, Y:7.31, Z:2.25
[[ 9.90802723e-01 -1.31615262e-01 -3.14227143e-02  6.99878186e+01]
 [ 1.31531391e-01  9.91300719e-01 -4.73046256e-03  7.31069949e+00]
 [ 3.17719603e-02  5.53881869e-04  9.99494990e-01  2.24608729e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.92650248099999
Centerline is valid?  [True, True]
Translation: X:70.05, Y:7.32, Z:2.25
[[ 9.91087706e-01 -1.29451840e-01 -3.14226081e-02  7.00465888e+01]
 [ 1.29366859e-01  9.91585514e-01 -4.73116753e-03  7.31548749e+00]
 [ 3.17706614e-02  6.23957856e-04  9.99494990e-01  2.24795719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.98650248099999
Centerline is valid?  [True, True]
Translation: X:70.11, Y:7.32, Z:2.25
[[ 9.91219333e-01 -1.28440440e-01 -3.14211262e-02  7.01052718e+01]
 [ 1.28354640e-01  9.91717001e-01 -4.74098907e-03  7.32347688e+00]
 [ 3.17697998e-02  6.66312679e-04  9.99494990e-01  2.24983410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.04650248099999
Centerline is valid?  [True, True]
Translation: X:70.16, Y:7.33, Z:2.25
[[ 9.91254202e-01 -1.28171421e-01 -3.14196408e-02  7.01642811e+01]
 [ 1.28085175e-01  9.91751792e-01 -4.75081292e-03  7.33068476e+00]
 [ 3.17694035e-02  6.84873094e-04  9.99494990e-01  2.25171754e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.10650248099998
Centerline is valid?  [True, True]
Translation: X:70.22, Y:7.34, Z:2.25
[[ 9.91618219e-01 -1.25324116e-01 -3.14193286e-02  7.02231263e+01]
 [ 1.25236376e-01  9.92115548e-01 -4.75287675e-03  7.33740880e+00]
 [ 3.17672545e-02  7.78196341e-04  9.99494990e-01  2.25359810e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.16650248099998
Centerline is valid?  [True, True]
Translation: X:70.28, Y:7.35, Z:2.26
[[ 9.91625532e-01 -1.25266608e-01 -3.14178348e-02  7.02815251e+01]
 [ 1.25178527e-01  9.92122801e-01 -4.76273086e-03  7.34577592e+00]
 [ 3.17669614e-02  7.90007246e-04  9.99494991e-01  2.25546779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.22650248099998
Centerline is valid?  [True, True]
Translation: X:70.34, Y:7.35, Z:2.26
[[ 9.91442849e-01 -1.26704419e-01 -3.14176263e-02  7.03409525e+01]
 [ 1.26617015e-01  9.91940237e-01 -4.76410582e-03  7.34985573e+00]
 [ 3.17680409e-02  7.45332584e-04  9.99494991e-01  2.25735443e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.28650248099999
Centerline is valid?  [True, True]
Translation: X:70.40, Y:7.36, Z:2.26
[[ 9.91287473e-01 -1.27914419e-01 -3.14173137e-02  7.03992602e+01]
 [ 1.27827557e-01  9.91784956e-01 -4.76616633e-03  7.36081996e+00]
 [ 3.17688805e-02  7.08642505e-04  9.99494991e-01  2.25923827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.34650248099999
Centerline is valid?  [True, True]
Translation: X:70.46, Y:7.37, Z:2.26
[[ 9.91336801e-01 -1.27531895e-01 -3.14159591e-02  7.04579779e+01]
 [ 1.27444559e-01  9.91834201e-01 -4.77507870e-03  7.36853683e+00]
 [ 3.17683975e-02  7.29918202e-04  9.99494991e-01  2.26111540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.40650248099999
Centerline is valid?  [True, True]
Translation: X:70.52, Y:7.38, Z:2.26
[[ 9.90916961e-01 -1.30754376e-01 -3.14144748e-02  7.05157676e+01]
 [ 1.30668349e-01  9.91414589e-01 -4.78482346e-03  7.37699150e+00]
 [ 3.17704053e-02  6.36485164e-04  9.99494991e-01  2.26296637e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.46650248099998
Centerline is valid?  [True, True]
Translation: X:70.57, Y:7.39, Z:2.26
[[ 9.90517326e-01 -1.33748456e-01 -3.14130184e-02  7.05739471e+01]
 [ 1.33663631e-01  9.91015160e-01 -4.79436590e-03  7.38642801e+00]
 [ 3.17720165e-02  5.50124380e-04  9.99494991e-01  2.26483441e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.52650248099998
Centerline is valid?  [True, True]
Translation: X:70.63, Y:7.39, Z:2.27
[[ 9.90008522e-01 -1.37464088e-01 -3.14125940e-02  7.06320289e+01]
 [ 1.37381043e-01  9.90506656e-01 -4.79714516e-03  7.39404104e+00]
 [ 3.17738186e-02  4.33719670e-04  9.99494991e-01  2.26669470e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.58650248099998
Centerline is valid?  [True, True]
Translation: X:70.69, Y:7.40, Z:2.27
[[ 9.89591439e-01 -1.40435497e-01 -3.14110715e-02  7.06887584e+01]
 [ 1.40353632e-01  9.90089769e-01 -4.80709363e-03  7.40342968e+00]
 [ 3.17748671e-02  3.48400737e-04  9.99494991e-01  2.26851670e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.64650248099998
Centerline is valid?  [True, True]
Translation: X:70.75, Y:7.41, Z:2.27
[[ 9.89486321e-01 -1.41174359e-01 -3.14105379e-02  7.07472264e+01]
 [ 1.41092755e-01  9.89984693e-01 -4.81057733e-03  7.41288997e+00]
 [ 3.17750819e-02  3.28201118e-04  9.99494991e-01  2.27039757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.70650248099999
Centerline is valid?  [True, True]
Translation: X:70.81, Y:7.42, Z:2.27
[[ 9.89513336e-01 -1.40985212e-01 -3.14090419e-02  7.08063516e+01]
 [ 1.40903204e-01  9.90011642e-01 -4.82032586e-03  7.42363452e+00]
 [ 3.17749118e-02  3.44142084e-04  9.99494991e-01  2.27230152e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.76650248099999
Centerline is valid?  [True, True]
Translation: X:70.86, Y:7.43, Z:2.27
[[ 9.89843335e-01 -1.38649381e-01 -3.14089321e-02  7.08635983e+01]
 [ 1.38566174e-01  9.90341443e-01 -4.82104070e-03  7.43077218e+00]
 [ 3.17740015e-02  4.19859444e-04  9.99494991e-01  2.27413449e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 70.82650248099998
Centerline is valid?  [True, True]
Translation: X:70.92, Y:7.44, Z:2.28
[[ 9.89890835e-01 -1.38309967e-01 -3.14083943e-02  7.09207234e+01]
 [ 1.38226478e-01  9.90388896e-01 -4.82454195e-03  7.44396888e+00]
 [ 3.17738072e-02  4.34298124e-04  9.99494991e-01  2.27599120e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.88650248099998
Centerline is valid?  [True, True]
Translation: X:70.98, Y:7.45, Z:2.28
[[ 9.90149515e-01 -1.36446119e-01 -3.14069230e-02  7.09797834e+01]
 [ 1.36361390e-01  9.90647365e-01 -4.83410100e-03  7.45270154e+00]
 [ 3.17727799e-02  5.03791074e-04  9.99494991e-01  2.27788355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.94650248099998
Centerline is valid?  [True, True]
Translation: X:71.04, Y:7.46, Z:2.28
[[ 9.90023387e-01 -1.37358335e-01 -3.14067097e-02  7.10379246e+01]
 [ 1.37274021e-01  9.90521308e-01 -4.83548633e-03  7.46213384e+00]
 [ 3.17732095e-02  4.75919244e-04  9.99494991e-01  2.27975530e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.00650248099998
Centerline is valid?  [True, True]
Translation: X:71.10, Y:7.47, Z:2.28
[[ 9.89412586e-01 -1.41691379e-01 -3.14052168e-02  7.10953080e+01]
 [ 1.41608938e-01  9.89910821e-01 -4.84516273e-03  7.47439359e+00]
 [ 3.17748818e-02  3.46605587e-04  9.99494991e-01  2.28161199e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.06650248099999
Centerline is valid?  [True, True]
Translation: X:71.15, Y:7.48, Z:2.28
[[ 9.88443170e-01 -1.48303424e-01 -3.14037380e-02  7.11535015e+01]
 [ 1.48224012e-01  9.88941896e-01 -4.85472880e-03  7.48410674e+00]
 [ 3.17764451e-02  1.43835472e-04  9.99494991e-01  2.28348189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.12650248099999
Centerline is valid?  [True, True]
Translation: X:71.21, Y:7.50, Z:2.29
[[ 9.87433046e-01 -1.54886671e-01 -3.14022127e-02  7.12110632e+01]
 [ 1.54810271e-01  9.87932242e-01 -4.86457523e-03  7.49528836e+00]
 [ 3.17767163e-02 -5.79427388e-05  9.99494991e-01  2.28533894e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.18650248099998
Centerline is valid?  [True, True]
Translation: X:71.27, Y:7.51, Z:2.29
[[ 9.86657974e-01 -1.59749940e-01 -3.14006197e-02  7.12690962e+01]
 [ 1.59675674e-01  9.87157493e-01 -4.87483653e-03  7.50663483e+00]
 [ 3.17761118e-02 -2.04118783e-04  9.99494991e-01  2.28721139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.24650248099998
Centerline is valid?  [True, True]
Translation: X:71.33, Y:7.52, Z:2.29
[[ 9.86191266e-01 -1.62606329e-01 -3.14001307e-02  7.13263487e+01]
 [ 1.62533410e-01  9.86690983e-01 -4.87798398e-03  7.51757151e+00]
 [ 3.17754169e-02 -2.92945103e-04  9.99494991e-01  2.28906155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.30650248099998
Centerline is valid?  [True, True]
Translation: X:71.38, Y:7.53, Z:2.29
[[ 9.86061787e-01 -1.63389774e-01 -3.13995733e-02  7.13837701e+01]
 [ 1.63317138e-01  9.86561545e-01 -4.88156972e-03  7.53184956e+00]
 [ 3.17752101e-02 -3.14559073e-04  9.99494991e-01  2.29093310e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.36650248099998
Centerline is valid?  [True, True]
Translation: X:71.44, Y:7.54, Z:2.29
[[ 9.86128915e-01 -1.62984440e-01 -3.13980191e-02  7.14425682e+01]
 [ 1.62911281e-01  9.86628597e-01 -4.89154567e-03  7.54191445e+00]
 [ 3.17754293e-02 -2.91396874e-04  9.99494991e-01  2.29282361e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.42650248099999
Centerline is valid?  [True, True]
Translation: X:71.50, Y:7.56, Z:2.29
[[ 9.86020658e-01 -1.63638138e-01 -3.13977881e-02  7.15002174e+01]
 [ 1.63565262e-01  9.86520382e-01 -4.89302798e-03  7.55540914e+00]
 [ 3.17752439e-02 -3.10960777e-04  9.99494991e-01  2.29469978e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.48650248099999
Centerline is valid?  [True, True]
Translation: X:71.56, Y:7.57, Z:2.30
[[ 9.86407747e-01 -1.61288414e-01 -3.13975313e-02  7.15579731e+01]
 [ 1.61214296e-01  9.86907287e-01 -4.89467524e-03  7.56708020e+00]
 [ 3.17759068e-02 -2.33585324e-04  9.99494991e-01  2.29657029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.54650248099999
Centerline is valid?  [True, True]
Translation: X:71.62, Y:7.58, Z:2.30
[[ 9.86319229e-01 -1.61828922e-01 -3.13971012e-02  7.16153582e+01]
 [ 1.61754990e-01  9.86818797e-01 -4.89743271e-03  7.57936834e+00]
 [ 3.17757959e-02 -2.48205734e-04  9.99494991e-01  2.29843155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.60650248099998
Centerline is valid?  [True, True]
Translation: X:71.67, Y:7.59, Z:2.30
[[ 9.85497771e-01 -1.66758700e-01 -3.13955411e-02  7.16725528e+01]
 [ 1.66686948e-01  9.85997656e-01 -4.90741361e-03  7.59010932e+00]
 [ 3.17742838e-02 -3.96981766e-04  9.99494991e-01  2.30027513e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.66650248099998
Centerline is valid?  [True, True]
Translation: X:71.73, Y:7.60, Z:2.30
[[ 9.84836989e-01 -1.70617877e-01 -3.13949958e-02  7.17312678e+01]
 [ 1.70547974e-01  9.85337136e-01 -4.91089966e-03  7.60179671e+00]
 [ 3.17725425e-02 -5.17917281e-04  9.99494991e-01  2.30217485e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.72650248099998
Centerline is valid?  [True, True]
Translation: X:71.79, Y:7.61, Z:2.30
[[ 9.84346329e-01 -1.73426276e-01 -3.13947610e-02  7.17880740e+01]
 [ 1.73357752e-01  9.84846667e-01 -4.91239970e-03  7.61498173e+00]
 [ 3.17709650e-02 -6.07022590e-04  9.99494991e-01  2.30402312e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.78650248099999
Centerline is valid?  [True, True]
Translation: X:71.85, Y:7.62, Z:2.31
[[ 9.84101035e-01 -1.74812917e-01 -3.13942305e-02  7.18455302e+01]
 [ 1.74744990e-01  9.84601454e-01 -4.91578799e-03  7.62343626e+00]
 [ 3.17701482e-02 -6.48352446e-04  9.99494991e-01  2.30586750e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.84650248099999
Centerline is valid?  [True, True]
Translation: X:71.90, Y:7.63, Z:2.31
[[ 9.84154249e-01 -1.74513413e-01 -3.13923965e-02  7.19029969e+01]
 [ 1.74444960e-01  9.84654597e-01 -4.92747244e-03  7.63364224e+00]
 [ 3.17705775e-02 -6.26852419e-04  9.99494991e-01  2.30771614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.90650248099999
Centerline is valid?  [True, True]
Translation: X:71.96, Y:7.65, Z:2.31
[[ 9.84987029e-01 -1.69750129e-01 -3.13918294e-02  7.19615442e+01]
 [ 1.69679141e-01  9.85487023e-01 -4.93108247e-03  7.64531228e+00]
 [ 3.17732924e-02 -4.69486390e-04  9.99494991e-01  2.30961051e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.96650248099998
Centerline is valid?  [True, True]
Translation: X:72.02, Y:7.66, Z:2.31
[[ 9.85655076e-01 -1.65827112e-01 -3.13917084e-02  7.20188692e+01]
 [ 1.65754110e-01  9.86154781e-01 -4.93185286e-03  7.65723823e+00]
 [ 3.17749182e-02 -3.42198876e-04  9.99494991e-01  2.31146937e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 72.02650248099998
Centerline is valid?  [True, True]
Translation: X:72.08, Y:7.67, Z:2.31
[[ 9.85953781e-01 -1.64041882e-01 -3.13911278e-02  7.20756253e+01]
 [ 1.63967858e-01  9.86453335e-01 -4.93554511e-03  7.66804165e+00]
 [ 3.17755189e-02 -2.80916639e-04  9.99494991e-01  2.31330319e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.08650248099998
Centerline is valid?  [True, True]
Translation: X:72.13, Y:7.68, Z:2.32
[[ 9.86447352e-01 -1.61047411e-01 -3.13903383e-02  7.21331426e+01]
 [ 1.60971710e-01  9.86946655e-01 -4.94056161e-03  7.67949802e+00]
 [ 3.17762540e-02 -1.79352526e-04  9.99494991e-01  2.31516342e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.14650248099998
Centerline is valid?  [True, True]
Translation: X:72.19, Y:7.69, Z:2.32
[[ 9.86943275e-01 -1.57980110e-01 -3.13887931e-02  7.21908843e+01]
 [ 1.57902546e-01  9.87442292e-01 -4.95035910e-03  7.69060479e+00]
 [ 3.17766801e-02 -7.06467105e-05  9.99494991e-01  2.31702636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.20650248099999
Centerline is valid?  [True, True]
Translation: X:72.25, Y:7.70, Z:2.32
[[ 9.87343132e-01 -1.55461839e-01 -3.13872102e-02  7.22490052e+01]
 [ 1.55382684e-01  9.87841898e-01 -4.96037496e-03  7.70156399e+00]
 [ 3.17767504e-02  2.05631688e-05  9.99494991e-01  2.31890038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.26650248099999
Centerline is valid?  [True, True]
Translation: X:72.31, Y:7.71, Z:2.32
[[ 9.88197960e-01 -1.49932433e-01 -3.13856356e-02  7.23062727e+01]
 [ 1.49850171e-01  9.88696223e-01 -4.97031822e-03  7.71436466e+00]
 [ 3.17760713e-02  2.08515449e-04  9.99494991e-01  2.32075683e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.32650248099998
Centerline is valid?  [True, True]
Translation: X:72.37, Y:7.72, Z:2.32
[[ 9.89017400e-01 -1.44428611e-01 -3.13840551e-02  7.23660049e+01]
 [ 1.44343261e-01  9.89515144e-01 -4.98027819e-03  7.72449193e+00]
 [ 3.17742924e-02  3.95504947e-04  9.99494991e-01  2.32267741e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.38650248099998
Centerline is valid?  [True, True]
Translation: X:72.42, Y:7.73, Z:2.32
[[ 9.89406209e-01 -1.41740586e-01 -3.13840551e-02  7.24242881e+01]
 [ 1.41653884e-01  9.89903720e-01 -4.98027819e-03  7.73384892e+00]
 [ 3.17731004e-02  4.81844878e-04  9.99494991e-01  2.32455413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.44650248099998
Centerline is valid?  [True, True]
Translation: X:72.48, Y:7.74, Z:2.33
[[ 9.90117032e-01 -1.36687273e-01 -3.13823695e-02  7.24820172e+01]
 [ 1.36597696e-01  9.90614032e-01 -4.99087669e-03  7.74346768e+00]
 [ 3.17700050e-02  6.54792652e-04  9.99494991e-01  2.32640894e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.50650248099998
Centerline is valid?  [True, True]
Translation: X:72.54, Y:7.75, Z:2.33
[[ 9.90133817e-01 -1.36565736e-01 -3.13819015e-02  7.25397640e+01]
 [ 1.36476005e-01  9.90630790e-01 -4.99381761e-03  7.75257634e+00]
 [ 3.17698623e-02  6.61671147e-04  9.99494992e-01  2.32826596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.56650248099999
Centerline is valid?  [True, True]
Translation: X:72.60, Y:7.76, Z:2.33
[[ 9.89920366e-01 -1.38104887e-01 -3.13800640e-02  7.25957750e+01]
 [ 1.38015563e-01  9.90417412e-01 -5.00533751e-03  7.76099442e+00]
 [ 3.17706234e-02  6.23948338e-04  9.99494992e-01  2.33006032e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.62650248099999
Centerline is valid?  [True, True]
Translation: X:72.65, Y:7.77, Z:2.33
[[ 9.89308795e-01 -1.42419975e-01 -3.13792777e-02  7.26542426e+01]
 [ 1.42332663e-01  9.89806198e-01 -5.01026270e-03  7.76817192e+00]
 [ 3.17729650e-02  4.90400803e-04  9.99494992e-01  2.33192919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.68650248099998
Centerline is valid?  [True, True]
Translation: X:72.71, Y:7.78, Z:2.33
[[ 9.88959761e-01 -1.44824140e-01 -3.13776877e-02  7.27121932e+01]
 [ 1.44737722e-01  9.89457321e-01 -5.02020060e-03  7.78086052e+00]
 [ 3.17739290e-02  4.23241351e-04  9.99494992e-01  2.33380672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.74650248099998
Centerline is valid?  [True, True]
Translation: X:72.77, Y:7.79, Z:2.34
[[ 9.88822139e-01 -1.45761179e-01 -3.13760453e-02  7.27724108e+01]
 [ 1.45674908e-01  9.89319724e-01 -5.03044468e-03  7.78696033e+00]
 [ 3.17741840e-02  4.03512566e-04  9.99494992e-01  2.33572215e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.80650248099998
Centerline is valid?  [True, True]
Translation: X:72.83, Y:7.80, Z:2.34
[[ 9.88154470e-01 -1.50220803e-01 -3.13759921e-02  7.28296798e+01]
 [ 1.50136767e-01  9.88652438e-01 -5.03077643e-03  7.79623440e+00]
 [ 3.17756783e-02  2.60494195e-04  9.99494992e-01  2.33756643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.86650248099998
Centerline is valid?  [True, True]
Translation: X:72.89, Y:7.81, Z:2.34
[[ 9.88003173e-01 -1.51212804e-01 -3.13754211e-02  7.28864104e+01]
 [ 1.51129155e-01  9.88501206e-01 -5.03433458e-03  7.80829959e+00]
 [ 3.17758975e-02  2.32197653e-04  9.99494992e-01  2.33940608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.92650248099999
Centerline is valid?  [True, True]
Translation: X:72.95, Y:7.81, Z:2.34
[[ 9.87982105e-01 -1.51350774e-01 -3.13736261e-02  7.29454536e+01]
 [ 1.51266840e-01  9.88480089e-01 -5.04549653e-03  7.81485236e+00]
 [ 3.17758445e-02  2.39071010e-04  9.99494992e-01  2.34128637e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.98650248099999
Centerline is valid?  [True, True]
Translation: X:73.00, Y:7.83, Z:2.34
[[ 9.87499429e-01 -1.54469013e-01 -3.13719798e-02  7.30014501e+01]
 [ 1.54386327e-01  9.87997622e-01 -5.05571205e-03  7.82958272e+00]
 [ 3.17763923e-02  1.49108025e-04  9.99494992e-01  2.34311285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.04650248099998
Centerline is valid?  [True, True]
Translation: X:73.06, Y:7.84, Z:2.35
[[ 9.87693724e-01 -1.53221874e-01 -3.13714047e-02  7.30607321e+01]
 [ 1.53138445e-01  9.88191793e-01 -5.05927829e-03  7.83746956e+00]
 [ 3.17761568e-02  1.92849271e-04  9.99494992e-01  2.34501152e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.10650248099998
Centerline is valid?  [True, True]
Translation: X:73.12, Y:7.85, Z:2.35
[[ 9.87326791e-01 -1.55568816e-01 -3.13711771e-02  7.31191240e+01]
 [ 1.55486526e-01  9.87825050e-01 -5.06068911e-03  7.84629445e+00]
 [ 3.17765200e-02  1.18758584e-04  9.99494992e-01  2.34688818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.16650248099998
Centerline is valid?  [True, True]
Translation: X:73.18, Y:7.86, Z:2.35
[[ 9.86569104e-01 -1.60303943e-01 -3.13695510e-02  7.31753242e+01]
 [ 1.60223726e-01  9.87067700e-01 -5.07074896e-03  7.86278632e+00]
 [ 3.17767316e-02 -2.35020715e-05  9.99494992e-01  2.34873018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 73.22650248099998
Centerline is valid?  [True, True]
Translation: X:73.23, Y:7.87, Z:2.35
[[ 9.86960371e-01 -1.57877267e-01 -3.13687031e-02  7.32346675e+01]
 [ 1.57795657e-01  9.87458741e-01 -5.07598880e-03  7.86987970e+00]
 [ 3.17766833e-02  5.99546676e-05  9.99494992e-01  2.35062583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.28650248099999
Centerline is valid?  [True, True]
Translation: X:73.29, Y:7.88, Z:2.35
[[ 9.87385518e-01 -1.55196190e-01 -3.13684779e-02  7.32934210e+01]
 [ 1.55113183e-01  9.87883657e-01 -5.07738020e-03  7.88065174e+00]
 [ 3.17763967e-02  1.47667232e-04  9.99494992e-01  2.35252373e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.34650248099999
Centerline is valid?  [True, True]
Translation: X:73.35, Y:7.89, Z:2.35
[[ 9.88542832e-01 -1.47645191e-01 -3.13682552e-02  7.33520218e+01]
 [ 1.47558336e-01  9.89040315e-01 -5.07875530e-03  7.89293802e+00]
 [ 3.17743228e-02  3.91919610e-04  9.99494992e-01  2.35442455e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.40650248099999
Centerline is valid?  [True, True]
Translation: X:73.41, Y:7.90, Z:2.36
[[ 9.89149811e-01 -1.43522463e-01 -3.13680239e-02  7.34106550e+01]
 [ 1.43433489e-01  9.89646920e-01 -5.08018372e-03  7.90040533e+00]
 [ 3.17723887e-02  5.25837659e-04  9.99494992e-01  2.35630187e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.46650248099998
Centerline is valid?  [True, True]
Translation: X:73.47, Y:7.91, Z:2.36
[[ 9.89791657e-01 -1.39027116e-01 -3.13677723e-02  7.34694575e+01]
 [ 1.38935835e-01  9.90288347e-01 -5.08173644e-03  7.91169328e+00]
 [ 3.17696386e-02  6.71752689e-04  9.99494992e-01  2.35820385e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.52650248099998
Centerline is valid?  [True, True]
Translation: X:73.53, Y:7.92, Z:2.36
[[ 9.89974023e-01 -1.37722575e-01 -3.13676122e-02  7.35279995e+01]
 [ 1.37630608e-01  9.90470586e-01 -5.08272459e-03  7.91946644e+00]
 [ 3.17687032e-02  7.14621765e-04  9.99494992e-01  2.36008010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.58650248099998
Centerline is valid?  [True, True]
Translation: X:73.59, Y:7.93, Z:2.36
[[ 9.89743521e-01 -1.39369533e-01 -3.13671291e-02  7.35856440e+01]
 [ 1.39278298e-01  9.90240219e-01 -5.08570424e-03  7.92782751e+00]
 [ 3.17697850e-02  6.64782461e-04  9.99494992e-01  2.36193008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.64650248099998
Centerline is valid?  [True, True]
Translation: X:73.64, Y:7.94, Z:2.36
[[ 9.89503146e-01 -1.41066146e-01 -3.13666515e-02  7.36433443e+01]
 [ 1.40975669e-01  9.89999983e-01 -5.08864812e-03  7.93722840e+00]
 [ 3.17708205e-02  6.13298639e-04  9.99494992e-01  2.36378712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.70650248099999
Centerline is valid?  [True, True]
Translation: X:73.70, Y:7.94, Z:2.37
[[ 9.88334004e-01 -1.49037132e-01 -3.13660479e-02  7.37015835e+01]
 [ 1.48950545e-01  9.88831534e-01 -5.09236620e-03  7.94407297e+00]
 [ 3.17746889e-02  3.60968759e-04  9.99494992e-01  2.36564762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.76650248099999
Centerline is valid?  [True, True]
Translation: X:73.76, Y:7.95, Z:2.37
[[ 9.87045149e-01 -1.57346966e-01 -3.13656930e-02  7.37599295e+01]
 [ 1.57264498e-01  9.87543378e-01 -5.09455098e-03  7.95019550e+00]
 [ 3.17765946e-02  9.58418535e-05  9.99494992e-01  2.36750862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.82650248099998
Centerline is valid?  [True, True]
Translation: X:73.82, Y:7.96, Z:2.37
[[ 9.86160497e-01 -1.62799782e-01 -3.13640627e-02  7.38191446e+01]
 [ 1.62719751e-01  9.86659124e-01 -5.10456822e-03  7.95950859e+00]
 [ 3.17766612e-02 -6.96289391e-05  9.99494992e-01  2.36940884e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.88650248099998
Centerline is valid?  [True, True]
Translation: X:73.88, Y:7.97, Z:2.37
[[ 9.85784007e-01 -1.65064216e-01 -3.13639434e-02  7.38769932e+01]
 [ 1.64985307e-01  9.86282812e-01 -5.10530130e-03  7.96775969e+00]
 [ 3.17764208e-02 -1.41865447e-04  9.99494992e-01  2.37126586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.94650248099998
Centerline is valid?  [True, True]
Translation: X:73.94, Y:7.98, Z:2.37
[[ 9.85872234e-01 -1.64536494e-01 -3.13636775e-02  7.39353220e+01]
 [ 1.64457266e-01  9.86370989e-01 -5.10693403e-03  7.97871694e+00]
 [ 3.17764986e-02 -1.23200183e-04  9.99494992e-01  2.37315127e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.00650248099998
Centerline is valid?  [True, True]
Translation: X:73.99, Y:7.99, Z:2.38
[[ 9.85712029e-01 -1.65493854e-01 -3.13620671e-02  7.39936474e+01]
 [ 1.65414797e-01  9.86210811e-01 -5.11680443e-03  7.98935398e+00]
 [ 3.17764093e-02 -1.44054277e-04  9.99494992e-01  2.37503042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.06650248099999
Centerline is valid?  [True, True]
Translation: X:74.05, Y:8.00, Z:2.38
[[ 9.85946203e-01 -1.64093298e-01 -3.13603917e-02  7.40496600e+01]
 [ 1.64013205e-01  9.86444819e-01 -5.12705259e-03  7.99790673e+00]
 [ 3.17766109e-02 -8.85203346e-05  9.99494992e-01  2.37682612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.12650248099999
Centerline is valid?  [True, True]
Translation: X:74.11, Y:8.01, Z:2.38
[[ 9.86685433e-01 -1.59588418e-01 -3.13591046e-02  7.41090492e+01]
 [ 1.59505800e-01  9.87183637e-01 -5.13491310e-03  8.00705616e+00]
 [ 3.17766675e-02  6.45849054e-05  9.99494992e-01  2.37873213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.18650248099998
Centerline is valid?  [True, True]
Translation: X:74.17, Y:8.02, Z:2.38
[[ 9.87347215e-01 -1.55441603e-01 -3.13589879e-02  7.41673777e+01]
 [ 1.55356869e-01  9.87845063e-01 -5.13562524e-03  8.01847813e+00]
 [ 3.17761112e-02  1.98811098e-04  9.99494992e-01  2.38062047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.24650248099998
Centerline is valid?  [True, True]
Translation: X:74.22, Y:8.03, Z:2.38
[[ 9.88501199e-01 -1.47925990e-01 -3.13573123e-02  7.42242858e+01]
 [ 1.47837147e-01  9.88998331e-01 -5.14583599e-03  8.02692073e+00]
 [ 3.17735324e-02  4.50889445e-04  9.99494992e-01  2.38244371e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.30650248099998
Centerline is valid?  [True, True]
Translation: X:74.28, Y:8.04, Z:2.38
[[ 9.89076216e-01 -1.44031227e-01 -3.13567287e-02  7.42830459e+01]
 [ 1.43940314e-01  9.89572973e-01 -5.14939012e-03  8.03902862e+00]
 [ 3.17714442e-02  5.79641922e-04  9.99494992e-01  2.38434758e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.36650248099998
Centerline is valid?  [True, True]
Translation: X:74.34, Y:8.05, Z:2.39
[[ 9.89644937e-01 -1.40070225e-01 -3.13565031e-02  7.43412907e+01]
 [ 1.39977281e-01  9.90141318e-01 -5.15076311e-03  8.04699307e+00]
 [ 3.17688379e-02  7.08228591e-04  9.99494992e-01  2.38621515e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 74.42650248099999
Centerline is valid?  [True, True]
Translation: X:74.40, Y:8.06, Z:2.39
[[ 9.89953528e-01 -1.37872716e-01 -3.13548515e-02  7.44010301e+01]
 [ 1.37778352e-01  9.90449641e-01 -5.16079779e-03  8.05596101e+00]
 [ 3.17669346e-02  7.88930217e-04  9.99494992e-01  2.38813000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.48650248099999
Centerline is valid?  [True, True]
Translation: X:74.46, Y:8.06, Z:2.39
[[ 9.90241418e-01 -1.35789572e-01 -3.13548515e-02  7.44589579e+01]
 [ 1.35694164e-01  9.90737331e-01 -5.16079779e-03  8.06388180e+00]
 [ 3.17652044e-02  8.55765349e-04  9.99494992e-01  2.38998813e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.54650248099998
Centerline is valid?  [True, True]
Translation: X:74.52, Y:8.07, Z:2.39
[[ 9.90486637e-01 -1.33989534e-01 -3.13532517e-02  7.45171958e+01]
 [ 1.33892919e-01  9.90982317e-01 -5.17049888e-03  8.07155703e+00]
 [ 3.17633107e-02  9.23331668e-04  9.99494992e-01  2.39184934e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.60650248099998
Centerline is valid?  [True, True]
Translation: X:74.58, Y:8.08, Z:2.39
[[ 9.90344904e-01 -1.35033499e-01 -3.13516324e-02  7.45750349e+01]
 [ 1.34937097e-01  9.90840625e-01 -5.18029870e-03  8.07998114e+00]
 [ 3.17639849e-02  8.99784164e-04  9.99494992e-01  2.39370182e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.66650248099998
Centerline is valid?  [True, True]
Translation: X:74.63, Y:8.08, Z:2.40
[[ 9.90459145e-01 -1.34193420e-01 -3.13497771e-02  7.46325389e+01]
 [ 1.34096242e-01  9.90954714e-01 -5.19150226e-03  8.08423518e+00]
 [ 3.17628749e-02  9.38083586e-04  9.99494992e-01  2.39552133e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.72650248099998
Centerline is valid?  [True, True]
Translation: X:74.69, Y:8.10, Z:2.40
[[ 9.90262650e-01 -1.35635980e-01 -3.13490956e-02  7.46912272e+01]
 [ 1.35539395e-01  9.90758335e-01 -5.19561424e-03  8.09516329e+00]
 [ 3.17640900e-02  8.95985270e-04  9.99494992e-01  2.39741658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.78650248099999
Centerline is valid?  [True, True]
Translation: X:74.75, Y:8.10, Z:2.40
[[ 9.90036916e-01 -1.37274009e-01 -3.13488579e-02  7.47503276e+01]
 [ 1.37178198e-01  9.90532752e-01 -5.19704850e-03  8.10214750e+00]
 [ 3.17654901e-02  8.44890027e-04  9.99494992e-01  2.39930576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.84650248099999
Centerline is valid?  [True, True]
Translation: X:74.81, Y:8.11, Z:2.40
[[ 9.89960555e-01 -1.37823666e-01 -3.13486339e-02  7.48105499e+01]
 [ 1.37728088e-01  9.90456435e-01 -5.19839930e-03  8.10776989e+00]
 [ 3.17659186e-02  8.28622861e-04  9.99494992e-01  2.40122308e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.90650248099999
Centerline is valid?  [True, True]
Translation: X:74.87, Y:8.12, Z:2.40
[[ 9.89778580e-01 -1.39124523e-01 -3.13485198e-02  7.48699104e+01]
 [ 1.39029575e-01  9.90274582e-01 -5.19908728e-03  8.11666431e+00]
 [ 3.17669628e-02  7.87573861e-04  9.99494992e-01  2.40313076e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.96650248099998
Centerline is valid?  [True, True]
Translation: X:74.93, Y:8.12, Z:2.40
[[ 9.89640743e-01 -1.40101666e-01 -3.13484013e-02  7.49269888e+01]
 [ 1.40007185e-01  9.90136834e-01 -5.19980128e-03  8.12369507e+00]
 [ 3.17677077e-02  7.56933791e-04  9.99494992e-01  2.40495715e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.02650248099998
Centerline is valid?  [True, True]
Translation: X:74.99, Y:8.13, Z:2.41
[[ 9.89613182e-01 -1.40296441e-01 -3.13473812e-02  7.49866916e+01]
 [ 1.40201863e-01  9.90109254e-01 -5.20594413e-03  8.13059830e+00]
 [ 3.17677076e-02  7.56909684e-04  9.99494992e-01  2.40686206e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.08650248099998
Centerline is valid?  [True, True]
Translation: X:75.05, Y:8.14, Z:2.41
[[ 9.89850811e-01 -1.38609958e-01 -3.13472649e-02  7.50459161e+01]
 [ 1.38514513e-01  9.90346717e-01 -5.20664387e-03  8.13809143e+00]
 [ 3.17663536e-02  8.11749513e-04  9.99494992e-01  2.40875815e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.14650248099998
Centerline is valid?  [True, True]
Translation: X:75.10, Y:8.15, Z:2.41
[[ 9.89920780e-01 -1.38109408e-01 -3.13470859e-02  7.51044716e+01]
 [ 1.38013678e-01  9.90416632e-01 -5.20772188e-03  8.14601461e+00]
 [ 3.17659106e-02  8.28905496e-04  9.99494992e-01  2.41063529e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.20650248099999
Centerline is valid?  [True, True]
Translation: X:75.16, Y:8.15, Z:2.41
[[ 9.89695152e-01 -1.39717452e-01 -3.13454966e-02  7.51634797e+01]
 [ 1.39622225e-01  9.90191100e-01 -5.21727020e-03  8.15281891e+00]
 [ 3.17669754e-02  7.86979038e-04  9.99494992e-01  2.41251585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.26650248099999
Centerline is valid?  [True, True]
Translation: X:75.22, Y:8.16, Z:2.41
[[ 9.89519043e-01 -1.40959643e-01 -3.13439373e-02  7.52226868e+01]
 [ 1.40864743e-01  9.90015054e-01 -5.22662126e-03  8.16051072e+00]
 [ 3.17677124e-02  7.56585602e-04  9.99494992e-01  2.41440734e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.32650248099998
Centerline is valid?  [True, True]
Translation: X:75.28, Y:8.16, Z:2.42
[[ 9.89103886e-01 -1.43843928e-01 -3.13436963e-02  7.52802430e+01]
 [ 1.43750429e-01  9.89600163e-01 -5.22806616e-03  8.16456230e+00]
 [ 3.17697525e-02  6.65430778e-04  9.99494992e-01  2.41623262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.38650248099998
Centerline is valid?  [True, True]
Translation: X:75.34, Y:8.17, Z:2.42
[[ 9.88403295e-01 -1.48581751e-01 -3.13431057e-02  7.53394534e+01]
 [ 1.48490519e-01  9.88899993e-01 -5.23160460e-03  8.17105362e+00]
 [ 3.17725180e-02  5.16781199e-04  9.99494993e-01  2.41812128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.44650248099998
Centerline is valid?  [True, True]
Translation: X:75.40, Y:8.18, Z:2.42
[[ 9.87672548e-01 -1.53364136e-01 -3.13429489e-02  7.53973125e+01]
 [ 1.53275279e-01  9.88169676e-01 -5.23254367e-03  8.18129648e+00]
 [ 3.17746362e-02  3.63940496e-04  9.99494993e-01  2.41998874e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.50650248099998
Centerline is valid?  [True, True]
Translation: X:75.46, Y:8.19, Z:2.42
[[ 9.87871864e-01 -1.52075310e-01 -3.13413436e-02  7.54561495e+01]
 [ 1.51985500e-01  9.88368822e-01 -5.24214122e-03  8.18522655e+00]
 [ 3.17740071e-02  4.15134025e-04  9.99494993e-01  2.42184861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.56650248099999
Centerline is valid?  [True, True]
Translation: X:75.51, Y:8.20, Z:2.42
[[ 9.87706544e-01 -1.53145435e-01 -3.13410059e-02  7.55138661e+01]
 [ 1.53056099e-01  9.88203587e-01 -5.24415941e-03  8.19565665e+00]
 [ 3.17744136e-02  3.82758446e-04  9.99494993e-01  2.42371194e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 75.62650248099999
Centerline is valid?  [True, True]
Translation: X:75.57, Y:8.20, Z:2.43
[[ 9.88422942e-01 -1.48451774e-01 -3.13393944e-02  7.55725678e+01]
 [ 1.48359773e-01  9.88919499e-01 -5.25377241e-03  8.20427302e+00]
 [ 3.17720700e-02  5.43443728e-04  9.99494993e-01  2.42559207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.68650248099998
Centerline is valid?  [True, True]
Translation: X:75.63, Y:8.21, Z:2.43
[[ 9.88755275e-01 -1.46222268e-01 -3.13377455e-02  7.56311078e+01]
 [ 1.46128837e-01  9.89251564e-01 -5.26358918e-03  8.21340991e+00]
 [ 3.17705678e-02  6.25053265e-04  9.99494993e-01  2.42746973e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.74650248099998
Centerline is valid?  [True, True]
Translation: X:75.69, Y:8.22, Z:2.43
[[ 9.89143075e-01 -1.43575858e-01 -3.13360977e-02  7.56896039e+01]
 [ 1.43480789e-01  9.89639053e-01 -5.27338138e-03  8.22385334e+00]
 [ 3.17685563e-02  7.20000646e-04  9.99494993e-01  2.42935290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.80650248099998
Centerline is valid?  [True, True]
Translation: X:75.75, Y:8.23, Z:2.43
[[ 9.89743490e-01 -1.39377111e-01 -3.13343969e-02  7.57485900e+01]
 [ 1.39279619e-01  9.90238998e-01 -5.28346816e-03  8.22656393e+00]
 [ 3.17649363e-02  8.65035343e-04  9.99494993e-01  2.43121038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.86650248099998
Centerline is valid?  [True, True]
Translation: X:75.81, Y:8.23, Z:2.43
[[ 9.89908739e-01 -1.38198948e-01 -3.13327266e-02  7.58080720e+01]
 [ 1.38100553e-01  9.90404068e-01 -5.29335483e-03  8.23462706e+00]
 [ 3.17635960e-02  9.12871321e-04  9.99494993e-01  2.43311174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.92650248099999
Centerline is valid?  [True, True]
Translation: X:75.87, Y:8.24, Z:2.44
[[ 9.89967832e-01 -1.37775036e-01 -3.13325904e-02  7.58676187e+01]
 [ 1.37676404e-01  9.90463114e-01 -5.29416115e-03  8.24059799e+00]
 [ 3.17631783e-02  9.27290860e-04  9.99494993e-01  2.43500957e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.98650248099999
Centerline is valid?  [True, True]
Translation: X:75.93, Y:8.24, Z:2.44
[[ 9.89641434e-01 -1.40100346e-01 -3.13324777e-02  7.59269588e+01]
 [ 1.40002857e-01  9.90136942e-01 -5.29482776e-03  8.24353484e+00]
 [ 3.17652509e-02  8.53344529e-04  9.99494993e-01  2.43688493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.04650248099998
Centerline is valid?  [True, True]
Translation: X:75.99, Y:8.25, Z:2.44
[[ 9.89115574e-01 -1.43766039e-01 -3.13322023e-02  7.59871635e+01]
 [ 1.43670335e-01  9.89611430e-01 -5.29645712e-03  8.24610587e+00]
 [ 3.17681562e-02  7.37300225e-04  9.99494993e-01  2.43878484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.10650248099998
Centerline is valid?  [True, True]
Translation: X:76.05, Y:8.25, Z:2.44
[[ 9.87871397e-01 -1.52080277e-01 -3.13319664e-02  7.60467078e+01]
 [ 1.51988703e-01  9.88368032e-01 -5.29785237e-03  8.24880887e+00]
 [ 3.17732128e-02  4.71491884e-04  9.99494993e-01  2.44066487e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.16650248099998
Centerline is valid?  [True, True]
Translation: X:76.11, Y:8.25, Z:2.44
[[ 9.87069937e-01 -1.57198164e-01 -3.13317215e-02  7.61066295e+01]
 [ 1.57109119e-01  9.87567032e-01 -5.29930011e-03  8.25158543e+00]
 [ 3.17752155e-02  3.08280671e-04  9.99494993e-01  2.44255707e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.22650248099998
Centerline is valid?  [True, True]
Translation: X:76.17, Y:8.25, Z:2.44
[[ 9.86892864e-01 -1.58306324e-01 -3.13302149e-02  7.61662087e+01]
 [ 1.58217555e-01  9.87390008e-01 -5.30819275e-03  8.25398448e+00]
 [ 3.17754616e-02  2.81627548e-04  9.99494993e-01  2.44443164e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.28650248099999
Centerline is valid?  [True, True]
Translation: X:76.22, Y:8.25, Z:2.45
[[ 9.87034724e-01 -1.57419483e-01 -3.13298585e-02  7.62245430e+01]
 [ 1.57330200e-01  9.87531776e-01 -5.31029531e-03  8.25494220e+00]
 [ 3.17751747e-02  3.12312962e-04  9.99494993e-01  2.44626388e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.34650248099999
Centerline is valid?  [True, True]
Translation: X:76.28, Y:8.26, Z:2.45
[[ 9.87183348e-01 -1.56484927e-01 -3.13289854e-02  7.62842452e+01]
 [ 1.56395011e-01  9.87680286e-01 -5.31544117e-03  8.25834157e+00]
 [ 3.17748077e-02  3.47618000e-04  9.99494993e-01  2.44814991e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.40650248099998
Centerline is valid?  [True, True]
Translation: X:76.34, Y:8.26, Z:2.45
[[ 9.87132233e-01 -1.56807090e-01 -3.13287482e-02  7.63427787e+01]
 [ 1.56717291e-01  9.87629192e-01 -5.31683882e-03  8.26443446e+00]
 [ 3.17749043e-02  3.38666414e-04  9.99494993e-01  2.45001609e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.46650248099998
Centerline is valid?  [True, True]
Translation: X:76.40, Y:8.27, Z:2.45
[[ 9.86507234e-01 -1.60692528e-01 -3.13271071e-02  7.64025516e+01]
 [ 1.60604381e-01  9.87004489e-01 -5.32649115e-03  8.26751900e+00]
 [ 3.17759226e-02  2.23351429e-04  9.99494993e-01  2.45189949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.52650248099998
Centerline is valid?  [True, True]
Translation: X:76.46, Y:8.27, Z:2.45
[[ 9.85678359e-01 -1.65700937e-01 -3.13268735e-02  7.64599911e+01]
 [ 1.65615272e-01  9.86176047e-01 -5.32786443e-03  8.27226634e+00]
 [ 3.17766444e-02  6.33519813e-05  9.99494993e-01  2.45372417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.58650248099998
Centerline is valid?  [True, True]
Translation: X:76.52, Y:8.28, Z:2.46
[[ 9.85037730e-01 -1.69467875e-01 -3.13258663e-02  7.65180000e+01]
 [ 1.69383926e-01  9.85535710e-01 -5.33377993e-03  8.27993616e+00]
 [ 3.17766642e-02 -5.21237323e-05  9.99494993e-01  2.45557915e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.64650248099998
Centerline is valid?  [True, True]
Translation: X:76.58, Y:8.29, Z:2.46
[[ 9.84019894e-01 -1.75281474e-01 -3.13249590e-02  7.65767080e+01]
 [ 1.75200297e-01  9.84518334e-01 -5.33910295e-03  8.28956470e+00]
 [ 3.17758423e-02 -2.34358591e-04  9.99494993e-01  2.45746688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.70650248099999
Centerline is valid?  [True, True]
Translation: X:76.63, Y:8.30, Z:2.46
[[ 9.83644250e-01 -1.77377658e-01 -3.13234074e-02  7.66347429e+01]
 [ 1.77297254e-01  9.84142815e-01 -5.34819062e-03  8.29783937e+00]
 [ 3.17753558e-02 -2.92837165e-04  9.99494993e-01  2.45932366e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.76650248099999
Centerline is valid?  [True, True]
Translation: X:76.69, Y:8.31, Z:2.46
[[ 9.83617378e-01 -1.77526905e-01 -3.13217472e-02  7.66924646e+01]
 [ 1.77446267e-01  9.84115905e-01 -5.35789563e-03  8.30773243e+00]
 [ 3.17754003e-02 -2.87807886e-04  9.99494993e-01  2.46117885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 76.82650248099998
Centerline is valid?  [True, True]
Translation: X:76.75, Y:8.32, Z:2.46
[[ 9.83748193e-01 -1.76800628e-01 -3.13213987e-02  7.67505452e+01]
 [ 1.76719558e-01  9.84246650e-01 -5.35993259e-03  8.32171146e+00]
 [ 3.17756212e-02 -2.62279722e-04  9.99494993e-01  2.46307250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.88650248099998
Centerline is valid?  [True, True]
Translation: X:76.81, Y:8.33, Z:2.46
[[ 9.84494372e-01 -1.72597255e-01 -3.13212323e-02  7.68082046e+01]
 [ 1.72514025e-01  9.84992473e-01 -5.36090482e-03  8.33127893e+00]
 [ 3.17764555e-02 -1.25571220e-04  9.99494993e-01  2.46493002e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.94650248099998
Centerline is valid?  [True, True]
Translation: X:76.87, Y:8.34, Z:2.47
[[ 9.85038958e-01 -1.69461700e-01 -3.13206635e-02  7.68653224e+01]
 [ 1.69376779e-01  9.85536773e-01 -5.36422591e-03  8.34475715e+00]
 [ 3.17766964e-02 -2.10216027e-05  9.99494993e-01  2.46678995e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.00650248099998
Centerline is valid?  [True, True]
Translation: X:76.92, Y:8.36, Z:2.47
[[ 9.85541204e-01 -1.66516009e-01 -3.13201952e-02  7.69232557e+01]
 [ 1.66429514e-01  9.86038748e-01 -5.36695831e-03  8.35681279e+00]
 [ 3.17766106e-02  7.67536919e-05  9.99494993e-01  2.46866822e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.06650248099999
Centerline is valid?  [True, True]
Translation: X:76.98, Y:8.37, Z:2.47
[[ 9.85740335e-01 -1.65333177e-01 -3.13198349e-02  7.69824203e+01]
 [ 1.65246018e-01  9.86237764e-01 -5.36906021e-03  8.36740354e+00]
 [ 3.17764877e-02  1.17021217e-04  9.99494993e-01  2.47057764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.12650248099999
Centerline is valid?  [True, True]
Translation: X:77.04, Y:8.38, Z:2.47
[[ 9.85684563e-01 -1.65665516e-01 -3.13189937e-02  7.70406118e+01]
 [ 1.65578368e-01  9.86181994e-01 -5.37396301e-03  8.37582811e+00]
 [ 3.17765080e-02  1.11284526e-04  9.99494993e-01  2.47244301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.18650248099998
Centerline is valid?  [True, True]
Translation: X:77.10, Y:8.39, Z:2.47
[[ 9.84806748e-01 -1.70806598e-01 -3.13173151e-02  7.70984443e+01]
 [ 1.70721737e-01  9.85304574e-01 -5.38372719e-03  8.38642875e+00]
 [ 3.17766700e-02 -4.46155535e-05  9.99494993e-01  2.47430552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.24650248099998
Centerline is valid?  [True, True]
Translation: X:77.16, Y:8.39, Z:2.48
[[ 9.83752251e-01 -1.76778854e-01 -3.13168434e-02  7.71582816e+01]
 [ 1.76696928e-01  9.84250569e-01 -5.38646984e-03  8.39435302e+00]
 [ 3.17758349e-02 -2.34638168e-04  9.99494993e-01  2.47622121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.30650248099998
Centerline is valid?  [True, True]
Translation: X:77.22, Y:8.40, Z:2.48
[[ 9.82218980e-01 -1.85108444e-01 -3.13167585e-02  7.72157181e+01]
 [ 1.85030727e-01  9.82717971e-01 -5.38696301e-03  8.40483533e+00]
 [ 3.17727138e-02 -5.03385295e-04  9.99494993e-01  2.47807701e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.36650248099998
Centerline is valid?  [True, True]
Translation: X:77.27, Y:8.42, Z:2.48
[[ 9.80650975e-01 -1.93243279e-01 -3.13161483e-02  7.72736867e+01]
 [ 1.93169588e-01  9.81150576e-01 -5.39050830e-03  8.41682642e+00]
 [ 3.17675364e-02 -7.63120251e-04  9.99494993e-01  2.47995552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.42650248099999
Centerline is valid?  [True, True]
Translation: X:77.33, Y:8.43, Z:2.48
[[ 9.78942403e-01 -2.01720321e-01 -3.13158650e-02  7.73296461e+01]
 [ 2.01650902e-01  9.79442616e-01 -5.39215352e-03  8.43099031e+00]
 [ 3.17597997e-02 -1.03626471e-03  9.99494993e-01  2.48178412e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.48650248099999
Centerline is valid?  [True, True]
Translation: X:77.39, Y:8.44, Z:2.48
[[ 9.78813552e-01 -2.02344786e-01 -3.13148165e-02  7.73884062e+01]
 [ 2.02275492e-01  9.79313782e-01 -5.39823574e-03  8.44302152e+00]
 [ 3.17593363e-02 -1.05035362e-03  9.99494993e-01  2.48368596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.54650248099998
Centerline is valid?  [True, True]
Translation: X:77.45, Y:8.46, Z:2.49
[[ 9.78065121e-01 -2.05932067e-01 -3.13145690e-02  7.74458552e+01]
 [ 2.05864561e-01  9.78565596e-01 -5.39967112e-03  8.45999162e+00]
 [ 3.17553253e-02 -1.16533002e-03  9.99494993e-01  2.48557657e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.60650248099998
Centerline is valid?  [True, True]
Translation: X:77.50, Y:8.48, Z:2.49
[[ 9.78663815e-01 -2.03067851e-01 -3.13142842e-02  7.75021111e+01]
 [ 2.02998828e-01  9.79164083e-01 -5.40132248e-03  8.47707728e+00]
 [ 3.17586573e-02 -1.07068413e-03  9.99494993e-01  2.48743030e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.66650248099998
Centerline is valid?  [True, True]
Translation: X:77.56, Y:8.50, Z:2.49
[[ 9.79732639e-01 -1.97846938e-01 -3.13136726e-02  7.75584749e+01]
 [ 1.97775135e-01  9.80232515e-01 -5.40486560e-03  8.49628562e+00]
 [ 3.17640162e-02 -8.97742604e-04  9.99494993e-01  2.48929768e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.72650248099998
Centerline is valid?  [True, True]
Translation: X:77.62, Y:8.51, Z:2.49
[[ 9.81102327e-01 -1.90939230e-01 -3.13119030e-02  7.76162142e+01]
 [ 1.90863581e-01  9.81601635e-01 -5.41509791e-03  8.51470894e+00]
 [ 3.17697698e-02 -6.63536787e-04  9.99494993e-01  2.49119965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.78650248099999
Centerline is valid?  [True, True]
Translation: X:77.67, Y:8.53, Z:2.49
[[ 9.82499769e-01 -1.83613116e-01 -3.13117801e-02  7.76736388e+01]
 [ 1.83533721e-01  9.82998496e-01 -5.41580881e-03  8.53023048e+00]
 [ 3.17738462e-02 -4.25736595e-04  9.99494993e-01  2.49308227e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.84650248099999
Centerline is valid?  [True, True]
Translation: X:77.73, Y:8.54, Z:2.49
[[ 9.84404305e-01 -1.73112243e-01 -3.13099899e-02  7.77310808e+01]
 [ 1.73027199e-01  9.84902099e-01 -5.42613865e-03  8.54325496e+00]
 [ 3.17766058e-02 -7.59655987e-05  9.99494993e-01  2.49494580e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.90650248099998
Centerline is valid?  [True, True]
Translation: X:77.79, Y:8.55, Z:2.50
[[ 9.85426084e-01 -1.67198169e-01 -3.13082317e-02  7.77880646e+01]
 [ 1.67109815e-01  9.85923302e-01 -5.43626446e-03  8.55422057e+00]
 [ 3.17764486e-02  1.25123987e-04  9.99494993e-01  2.49678396e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.96650248099998
Centerline is valid?  [True, True]
Translation: X:77.85, Y:8.56, Z:2.50
[[ 9.86251565e-01 -1.62258343e-01 -3.13062330e-02  7.78466483e+01]
 [ 1.62167135e-01  9.86748267e-01 -5.44774989e-03  8.56045626e+00]
 [ 3.17753141e-02  2.96009749e-04  9.99494993e-01  2.49864561e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 78.02650248099998
Centerline is valid?  [True, True]
Translation: X:77.91, Y:8.56, Z:2.50
[[ 9.85832297e-01 -1.64786873e-01 -3.13044683e-02  7.79064165e+01]
 [ 1.64696617e-01  9.86329172e-01 -5.45787153e-03  8.56267520e+00]
 [ 3.17758959e-02  2.24805998e-04  9.99494993e-01  2.50052321e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.08650248099998
Centerline is valid?  [True, True]
Translation: X:77.97, Y:8.56, Z:2.50
[[ 9.85410913e-01 -1.67288592e-01 -3.13027092e-02  7.79657886e+01]
 [ 1.67199278e-01  9.85907959e-01 -5.46794225e-03  8.56497473e+00]
 [ 3.17763145e-02  1.54379592e-04  9.99494993e-01  2.50238870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.14650248099998
Centerline is valid?  [True, True]
Translation: X:78.02, Y:8.57, Z:2.50
[[ 9.84988428e-01 -1.69758801e-01 -3.13009147e-02  7.80244234e+01]
 [ 1.69670407e-01  9.85485638e-01 -5.47819530e-03  8.56952476e+00]
 [ 3.17765738e-02  8.51200350e-05  9.99494994e-01  2.50424316e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.20650248099999
Centerline is valid?  [True, True]
Translation: X:78.08, Y:8.57, Z:2.51
[[ 9.85091559e-01 -1.69159639e-01 -3.12991578e-02  7.80835105e+01]
 [ 1.69070625e-01  9.85588658e-01 -5.48821505e-03  8.57063067e+00]
 [ 3.17764794e-02  1.14626158e-04  9.99494994e-01  2.50609290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.26650248099999
Centerline is valid?  [True, True]
Translation: X:78.14, Y:8.58, Z:2.51
[[ 9.85357415e-01 -1.67604197e-01 -3.12985407e-02  7.81417805e+01]
 [ 1.67514286e-01  9.85854353e-01 -5.49173214e-03  8.57646256e+00]
 [ 3.17762399e-02  1.68366299e-04  9.99494994e-01  2.50794727e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.32650248099998
Centerline is valid?  [True, True]
Translation: X:78.20, Y:8.58, Z:2.51
[[ 9.84915618e-01 -1.70181332e-01 -3.12976098e-02  7.82011992e+01]
 [ 1.70092553e-01  9.85412759e-01 -5.49703239e-03  8.58227523e+00]
 [ 3.17765563e-02  9.06227056e-05  9.99494994e-01  2.50983626e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.38650248099998
Centerline is valid?  [True, True]
Translation: X:78.26, Y:8.59, Z:2.51
[[ 9.84504546e-01 -1.72543540e-01 -3.12973601e-02  7.82604659e+01]
 [ 1.72455909e-01  9.85001892e-01 -5.49845359e-03  8.58975173e+00]
 [ 3.17766815e-02  1.58378826e-05  9.99494994e-01  2.51173225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.44650248099998
Centerline is valid?  [True, True]
Translation: X:78.32, Y:8.60, Z:2.51
[[ 9.83877921e-01 -1.76081590e-01 -3.12971122e-02  7.83175933e+01]
 [ 1.75995703e-01  9.84375571e-01 -5.49986425e-03  8.60217791e+00]
 [ 3.17765375e-02 -9.69622433e-05  9.99494994e-01  2.51358848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.50650248099998
Centerline is valid?  [True, True]
Translation: X:78.38, Y:8.62, Z:2.52
[[ 9.81292138e-01 -1.89964088e-01 -3.12951176e-02  7.83750226e+01]
 [ 1.89884878e-01  9.81790894e-01 -5.51119058e-03  8.61899179e+00]
 [ 3.17721898e-02 -5.34381605e-04  9.99494994e-01  2.51547163e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.56650248099999
Centerline is valid?  [True, True]
Translation: X:78.43, Y:8.64, Z:2.52
[[ 9.80784279e-01 -1.92569015e-01 -3.12949164e-02  7.84310073e+01]
 [ 1.92491094e-01  9.81283238e-01 -5.51233278e-03  8.64288102e+00]
 [ 3.17706814e-02 -6.17583351e-04  9.99494994e-01  2.51735553e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.62650248099999
Centerline is valid?  [True, True]
Translation: X:78.49, Y:8.68, Z:2.52
[[ 9.77844908e-01 -2.06978437e-01 -3.12931829e-02  7.84857456e+01]
 [ 2.06907551e-01  9.78344914e-01 -5.52215625e-03  8.67549868e+00]
 [ 3.17584936e-02 -1.07498347e-03  9.99494994e-01  2.51924305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.68650248099998
Centerline is valid?  [True, True]
Translation: X:78.54, Y:8.71, Z:2.52
[[ 9.76547149e-01 -2.13017409e-01 -3.12929714e-02  7.85390509e+01]
 [ 2.12949576e-01  9.77047578e-01 -5.52335439e-03  8.70822274e+00]
 [ 3.17512926e-02 -1.27000902e-03  9.99494994e-01  2.52109204e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.74650248099998
Centerline is valid?  [True, True]
Translation: X:78.59, Y:8.74, Z:2.52
[[ 9.76491520e-01 -2.13272359e-01 -3.12923637e-02  7.85940918e+01]
 [ 2.13204547e-01  9.76991953e-01 -5.52679494e-03  8.74040543e+00]
 [ 3.17511002e-02 -1.27480585e-03  9.99494994e-01  2.52299111e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.80650248099998
Centerline is valid?  [True, True]
Translation: X:78.65, Y:8.78, Z:2.52
[[ 9.73523808e-01 -2.26433656e-01 -3.12921034e-02  7.86480201e+01]
 [ 2.26372557e-01  9.74025104e-01 -5.52826859e-03  8.77862437e+00]
 [ 3.17310803e-02 -1.70177239e-03  9.99494994e-01  2.52489001e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.86650248099998
Centerline is valid?  [True, True]
Translation: X:78.70, Y:8.81, Z:2.53
[[ 9.73511253e-01 -2.26487681e-01 -3.12917164e-02  7.87027701e+01]
 [ 2.26426540e-01  9.74012544e-01 -5.53045847e-03  8.81175368e+00]
 [ 3.17311050e-02 -1.70131152e-03  9.99494994e-01  2.52678617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.92650248099999
Centerline is valid?  [True, True]
Translation: X:78.76, Y:8.84, Z:2.53
[[ 9.76510109e-01 -2.13187545e-01 -3.12902022e-02  7.87583495e+01]
 [ 2.13119299e-01  9.77010483e-01 -5.53901183e-03  8.83812742e+00]
 [ 3.17517039e-02 -1.25964491e-03  9.99494994e-01  2.52866767e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.98650248099999
Centerline is valid?  [True, True]
Translation: X:78.81, Y:8.87, Z:2.53
[[ 9.76873567e-01 -2.11515895e-01 -3.12899428e-02  7.88129663e+01]
 [ 2.11446745e-01  9.77373817e-01 -5.54047733e-03  8.86893414e+00]
 [ 3.17538698e-02 -1.20381068e-03  9.99494994e-01  2.53054749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.04650248099998
Centerline is valid?  [True, True]
Translation: X:78.87, Y:8.90, Z:2.53
[[ 9.77298434e-01 -2.09544332e-01 -3.12880634e-02  7.88674731e+01]
 [ 2.09473835e-01  9.77798496e-01 -5.55106996e-03  8.89898241e+00]
 [ 3.17566166e-02 -1.12897864e-03  9.99494994e-01  2.53241531e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.10650248099998
Centerline is valid?  [True, True]
Translation: X:78.92, Y:8.93, Z:2.53
[[ 9.76752870e-01 -2.12072876e-01 -3.12878005e-02  7.89226477e+01]
 [ 2.12003625e-01  9.77253105e-01 -5.55255139e-03  8.92684624e+00]
 [ 3.17536458e-02 -1.20965663e-03  9.99494994e-01  2.53429655e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.16650248099998
Centerline is valid?  [True, True]
Translation: X:78.98, Y:8.97, Z:2.54
[[ 9.75220938e-01 -2.19009846e-01 -3.12859446e-02  7.89755208e+01]
 [ 2.18943818e-01  9.75721609e-01 -5.56298910e-03  8.96787661e+00]
 [ 3.17447216e-02 -1.42472071e-03  9.99494994e-01  2.53617508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999612 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.992338 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995289 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 79.22650248099998
Centerline is valid?  [True, True]
Translation: X:79.03, Y:9.00, Z:2.54
[[ 9.76342281e-01 -2.13955508e-01 -3.12856350e-02  7.90296731e+01]
 [ 2.13886832e-01  9.76842596e-01 -5.56472959e-03  9.00426117e+00]
 [ 3.17517455e-02 -1.25850459e-03  9.99494994e-01  2.53807194e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.28650248099999
Centerline is valid?  [True, True]
Translation: X:79.08, Y:9.05, Z:2.54
[[ 9.76973820e-01 -2.11053021e-01 -3.12854257e-02  7.90817326e+01]
 [ 2.10982821e-01  9.77473923e-01 -5.56590636e-03  9.04688571e+00]
 [ 3.17553891e-02 -1.16294257e-03  9.99494994e-01  2.53993835e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.34650248099999
Centerline is valid?  [True, True]
Translation: X:79.14, Y:9.07, Z:2.54
[[ 9.77389131e-01 -2.09121562e-01 -3.12835111e-02  7.91368387e+01]
 [ 2.09050030e-01  9.77889046e-01 -5.57664626e-03  9.06739496e+00]
 [ 3.17579998e-02 -1.08926551e-03  9.99494994e-01  2.54177354e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.40650248099998
Centerline is valid?  [True, True]
Translation: X:79.19, Y:9.10, Z:2.54
[[ 9.77410311e-01 -2.09022696e-01 -3.12825325e-02  7.91915122e+01]
 [ 2.08950938e-01  9.77910193e-01 -5.58213083e-03  9.10129488e+00]
 [ 3.17582994e-02 -1.08048228e-03  9.99494994e-01  2.54367206e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.46650248099998
Centerline is valid?  [True, True]
Translation: X:79.25, Y:9.14, Z:2.55
[[ 9.77664509e-01 -2.07830527e-01 -3.12822749e-02  7.92455713e+01]
 [ 2.07758114e-01  9.78164296e-01 -5.58357409e-03  9.13545397e+00]
 [ 3.17596415e-02 -1.04028420e-03  9.99494994e-01  2.54555434e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.52650248099998
Centerline is valid?  [True, True]
Translation: X:79.30, Y:9.17, Z:2.55
[[ 9.79578561e-01 -1.98613640e-01 -3.12804337e-02  7.93000178e+01]
 [ 1.98536194e-01  9.80077593e-01 -5.59386952e-03  9.17218381e+00]
 [ 3.17682710e-02 -7.30663610e-04  9.99494994e-01  2.54746063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.58650248099998
Centerline is valid?  [True, True]
Translation: X:79.35, Y:9.21, Z:2.55
[[ 9.81202435e-01 -1.90429320e-01 -3.12802780e-02  7.93531308e+01]
 [ 1.90347683e-01  9.81700799e-01 -5.59474001e-03  9.21255761e+00]
 [ 3.17732765e-02 -4.64555927e-04  9.99494994e-01  2.54934860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.64650248099998
Centerline is valid?  [True, True]
Translation: X:79.41, Y:9.25, Z:2.55
[[ 9.81755309e-01 -1.87558188e-01 -3.12800290e-02  7.94057586e+01]
 [ 1.87475050e-01  9.82253424e-01 -5.59613207e-03  9.25399734e+00]
 [ 3.17745160e-02 -3.70192632e-04  9.99494994e-01  2.55122730e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.70650248099999
Centerline is valid?  [True, True]
Translation: X:79.46, Y:9.30, Z:2.55
[[ 9.81896540e-01 -1.86817707e-01 -3.12782406e-02  7.94576604e+01]
 [ 1.86733875e-01  9.82394540e-01 -5.60611028e-03  9.29923210e+00]
 [ 3.17748934e-02 -3.36086769e-04  9.99494994e-01  2.55310298e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.76650248099999
Centerline is valid?  [True, True]
Translation: X:79.51, Y:9.35, Z:2.56
[[ 9.83042538e-01 -1.80690771e-01 -3.12764047e-02  7.95097582e+01]
 [ 1.80603510e-01  9.83539948e-01 -5.61633400e-03  9.34873270e+00]
 [ 3.17764131e-02 -1.27533216e-04  9.99494994e-01  2.55500944e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.82650248099998
Centerline is valid?  [True, True]
Translation: X:79.56, Y:9.39, Z:2.56
[[ 9.84320744e-01 -1.73592823e-01 -3.12762704e-02  7.95644080e+01]
 [ 1.73501951e-01  9.84817507e-01 -5.61708145e-03  9.38530707e+00]
 [ 3.17765037e-02  1.02515851e-04  9.99494994e-01  2.55692498e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.88650248099998
Centerline is valid?  [True, True]
Translation: X:79.62, Y:9.42, Z:2.56
[[ 9.85090252e-01 -1.69171504e-01 -3.12761365e-02  7.96180817e+01]
 [ 1.69078379e-01  9.85586598e-01 -5.61782696e-03  9.41868922e+00]
 [ 3.17757172e-02  2.45948098e-04  9.99494994e-01  2.55879207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.94650248099998
Centerline is valid?  [True, True]
Translation: X:79.67, Y:9.44, Z:2.56
[[ 9.85638363e-01 -1.65948322e-01 -3.12757444e-02  7.96734616e+01]
 [ 1.65853505e-01  9.86134388e-01 -5.62000934e-03  9.44041956e+00]
 [ 3.17747181e-02  3.52104984e-04  9.99494994e-01  2.56064696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.00650248099998
Centerline is valid?  [True, True]
Translation: X:79.73, Y:9.46, Z:2.56
[[ 9.86333979e-01 -1.61762928e-01 -3.12735701e-02  7.97303916e+01]
 [ 1.61665624e-01  9.86829522e-01 -5.63208241e-03  9.46152044e+00]
 [ 3.17727444e-02  4.99253033e-04  9.99494994e-01  2.56254610e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.06650248099999
Centerline is valid?  [True, True]
Translation: X:79.79, Y:9.47, Z:2.56
[[ 9.86921449e-01 -1.58139260e-01 -3.12734362e-02  7.97875803e+01]
 [ 1.58040112e-01  9.87416626e-01 -5.63282608e-03  9.47426025e+00]
 [ 3.17706818e-02  6.16699513e-04  9.99494994e-01  2.56440723e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.12650248099999
Centerline is valid?  [True, True]
Translation: X:79.85, Y:9.48, Z:2.57
[[ 9.87209077e-01 -1.56334034e-01 -3.12715332e-02  7.98453374e+01]
 [ 1.56233647e-01  9.87704004e-01 -5.64337094e-03  9.48309442e+00]
 [ 3.17692695e-02  6.85521331e-04  9.99494994e-01  2.56626338e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.18650248099998
Centerline is valid?  [True, True]
Translation: X:79.90, Y:9.50, Z:2.57
[[ 9.86726639e-01 -1.59351024e-01 -3.12696544e-02  7.99015578e+01]
 [ 1.59251822e-01  9.87221805e-01 -5.65376227e-03  9.49635857e+00]
 [ 3.17710175e-02  5.98968412e-04  9.99494994e-01  2.56809649e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.24650248099998
Centerline is valid?  [True, True]
Translation: X:79.96, Y:9.51, Z:2.57
[[ 9.85245650e-01 -1.68265722e-01 -3.12674741e-02  7.99588074e+01]
 [ 1.68170619e-01  9.85741620e-01 -5.66579458e-03  9.51192793e+00]
 [ 3.17750096e-02  3.23929002e-04  9.99494994e-01  2.56997481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.30650248099998
Centerline is valid?  [True, True]
Translation: X:80.02, Y:9.50, Z:2.57
[[ 9.87153786e-01 -1.56683634e-01 -3.12672519e-02  8.00215775e+01]
 [ 1.56582674e-01  9.87648597e-01 -5.66702040e-03  9.50356276e+00]
 [ 3.17689868e-02  6.98310733e-04  9.99494994e-01  2.57189093e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.36650248099998
Centerline is valid?  [True, True]
Translation: X:80.08, Y:9.52, Z:2.57
[[ 9.86206066e-01 -1.62542171e-01 -3.12671940e-02  8.00790944e+01]
 [ 1.62444140e-01  9.86701466e-01 -5.66734024e-03  9.51659585e+00]
 [ 3.17725679e-02  5.09992892e-04  9.99494994e-01  2.57376410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 80.42650248099999
Centerline is valid?  [True, True]
Translation: X:80.14, Y:9.52, Z:2.58
[[ 9.85895787e-01 -1.64413735e-01 -3.12669222e-02  8.01380176e+01]
 [ 1.64316598e-01  9.86391363e-01 -5.66883901e-03  9.52401227e+00]
 [ 3.17734570e-02  4.51210224e-04  9.99494994e-01  2.57564932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.48650248099999
Centerline is valid?  [True, True]
Translation: X:80.20, Y:9.53, Z:2.58
[[ 9.86185213e-01 -1.62668777e-01 -3.12665145e-02  8.01977989e+01]
 [ 1.62570691e-01  9.86680601e-01 -5.67108710e-03  9.53036090e+00]
 [ 3.17725721e-02  5.09723382e-04  9.99494994e-01  2.57755523e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.54650248099998
Centerline is valid?  [True, True]
Translation: X:80.26, Y:9.53, Z:2.58
[[ 9.86800808e-01 -1.58891722e-01 -3.12663777e-02  8.02585134e+01]
 [ 1.58791716e-01  9.87295812e-01 -5.67184119e-03  9.53189082e+00]
 [ 3.17703724e-02  6.32135702e-04  9.99494994e-01  2.57946313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.60650248099998
Centerline is valid?  [True, True]
Translation: X:80.32, Y:9.54, Z:2.58
[[ 9.86673138e-01 -1.59682626e-01 -3.12662436e-02  8.03167289e+01]
 [ 1.59582993e-01  9.87168218e-01 -5.67258015e-03  9.54012339e+00]
 [ 3.17708545e-02  6.07421716e-04  9.99494994e-01  2.58133087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.66650248099998
Centerline is valid?  [True, True]
Translation: X:80.38, Y:9.54, Z:2.58
[[ 9.87564085e-01 -1.54076713e-01 -3.12657109e-02  8.03772096e+01]
 [ 1.53974178e-01  9.88058572e-01 -5.67551456e-03  9.54182310e+00]
 [ 3.17668183e-02  7.90822210e-04  9.99494994e-01  2.58323214e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.72650248099998
Centerline is valid?  [True, True]
Translation: X:80.44, Y:9.54, Z:2.59
[[ 9.88951028e-01 -1.44907998e-01 -3.12655765e-02  8.04374661e+01]
 [ 1.44800856e-01  9.89444537e-01 -5.67625494e-03  9.53544657e+00]
 [ 3.17580886e-02  1.08625592e-03  9.99494994e-01  2.58508075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.78650248099999
Centerline is valid?  [True, True]
Translation: X:80.50, Y:9.53, Z:2.59
[[ 9.89278728e-01 -1.42653787e-01 -3.12649202e-02  8.04991003e+01]
 [ 1.42545406e-01  9.89771967e-01 -5.67986745e-03  9.53037914e+00]
 [ 3.17553962e-02  1.16230129e-03  9.99494994e-01  2.58697943e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.84650248099999
Centerline is valid?  [True, True]
Translation: X:80.56, Y:9.53, Z:2.59
[[ 9.88377596e-01 -1.48769094e-01 -3.12647362e-02  8.05607664e+01]
 [ 1.48663735e-01  9.88871489e-01 -5.68088007e-03  9.52751716e+00]
 [ 3.17619457e-02  9.66922140e-04  9.99494994e-01  2.58889196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.90650248099998
Centerline is valid?  [True, True]
Translation: X:80.62, Y:9.53, Z:2.59
[[ 9.87558359e-01 -1.54113645e-01 -3.12645335e-02  8.06205703e+01]
 [ 1.54010923e-01  9.88052808e-01 -5.68199549e-03  9.52733566e+00]
 [ 3.17666832e-02  7.96222474e-04  9.99494994e-01  2.59076144e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.96650248099998
Centerline is valid?  [True, True]
Translation: X:80.68, Y:9.51, Z:2.59
[[ 9.87530633e-01 -1.54291599e-01 -3.12626085e-02  8.06835332e+01]
 [ 1.54188632e-01  9.88025030e-01 -5.69256721e-03  9.51263928e+00]
 [ 3.17665550e-02  8.01245673e-04  9.99494994e-01  2.59264527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.02650248099998
Centerline is valid?  [True, True]
Translation: X:80.74, Y:9.51, Z:2.59
[[ 9.85190817e-01 -1.68587564e-01 -3.12615797e-02  8.07436545e+01]
 [ 1.68491594e-01  9.85686620e-01 -5.69821175e-03  9.50760740e+00]
 [ 3.17747685e-02  3.46512498e-04  9.99494994e-01  2.59449588e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.08650248099998
Centerline is valid?  [True, True]
Translation: X:80.80, Y:9.51, Z:2.60
[[ 9.84906686e-01 -1.70240051e-01 -3.12593140e-02  8.08033334e+01]
 [ 1.70144519e-01  9.85402573e-01 -5.71061370e-03  9.50712823e+00]
 [ 3.17751837e-02  3.05820669e-04  9.99494995e-01  2.59635691e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.14650248099998
Centerline is valid?  [True, True]
Translation: X:80.86, Y:9.51, Z:2.60
[[ 9.85634471e-01 -1.65974611e-01 -3.12588956e-02  8.08636062e+01]
 [ 1.65876861e-01  9.86129925e-01 -5.71290314e-03  9.50531511e+00]
 [ 3.17735293e-02  4.45706788e-04  9.99494995e-01  2.59823104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.20650248099999
Centerline is valid?  [True, True]
Translation: X:80.93, Y:9.50, Z:2.60
[[ 9.85728123e-01 -1.65417521e-01 -3.12587623e-02  8.09250519e+01]
 [ 1.65319468e-01  9.86223518e-01 -5.71363225e-03  9.49678548e+00]
 [ 3.17732615e-02  4.64406042e-04  9.99494995e-01  2.60010379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.26650248099997
Centerline is valid?  [True, True]
Translation: X:80.98, Y:9.50, Z:2.60
[[ 9.86208002e-01 -1.62532422e-01 -3.12568280e-02  8.09834706e+01]
 [ 1.62432585e-01  9.86703040e-01 -5.72419479e-03  9.50244855e+00]
 [ 3.17715744e-02  5.68119336e-04  9.99494995e-01  2.60196036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.32650248099998
Centerline is valid?  [True, True]
Translation: X:81.04, Y:9.50, Z:2.60
[[ 9.85864999e-01 -1.64600534e-01 -3.12548750e-02  8.10449125e+01]
 [ 1.64501398e-01  9.86360179e-01 -5.73483840e-03  9.49699618e+00]
 [ 3.17725216e-02  5.12305830e-04  9.99494995e-01  2.60384756e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.38650248099998
Centerline is valid?  [True, True]
Translation: X:81.11, Y:9.49, Z:2.61
[[ 9.85261383e-01 -1.68175972e-01 -3.12546011e-02  8.11051105e+01]
 [ 1.68078586e-01  9.85756909e-01 -5.73633091e-03  9.49242756e+00]
 [ 3.17741520e-02  3.98556177e-04  9.99494995e-01  2.60570333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.44650248099998
Centerline is valid?  [True, True]
Translation: X:81.16, Y:9.49, Z:2.61
[[ 9.85112292e-01 -1.69047235e-01 -3.12538792e-02  8.11649358e+01]
 [ 1.68950163e-01  9.85607879e-01 -5.74026118e-03  9.49467077e+00]
 [ 3.17744449e-02  3.74453871e-04  9.99494995e-01  2.60758576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.50650248099998
Centerline is valid?  [True, True]
Translation: X:81.22, Y:9.50, Z:2.61
[[ 9.85469398e-01 -1.66952919e-01 -3.12536202e-02  8.12248245e+01]
 [ 1.66854748e-01  9.85964769e-01 -5.74167117e-03  9.49753342e+00]
 [ 3.17735572e-02  4.43426293e-04  9.99494995e-01  2.60947445e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.56650248099999
Centerline is valid?  [True, True]
Translation: X:81.28, Y:9.50, Z:2.61
[[ 9.85307351e-01 -1.67906970e-01 -3.12517590e-02  8.12827938e+01]
 [ 1.67808958e-01  9.85802754e-01 -5.75178398e-03  9.50051407e+00]
 [ 3.17738347e-02  4.22949918e-04  9.99494995e-01  2.61130096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 81.62650248099999
Centerline is valid?  [True, True]
Translation: X:81.34, Y:9.51, Z:2.61
[[ 9.84840082e-01 -1.70626447e-01 -3.12510607e-02  8.13433446e+01]
 [ 1.70529683e-01  9.85335730e-01 -5.75557554e-03  9.50544263e+00]
 [ 3.17748401e-02  3.39088031e-04  9.99494995e-01  2.61322134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.68650248099998
Centerline is valid?  [True, True]
Translation: X:81.40, Y:9.51, Z:2.62
[[ 9.84226241e-01 -1.74132380e-01 -3.12509194e-02  8.14037825e+01]
 [ 1.74037357e-01  9.84722226e-01 -5.75634252e-03  9.50731514e+00]
 [ 3.17758405e-02  2.26715944e-04  9.99494995e-01  2.61512157e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.74650248099998
Centerline is valid?  [True, True]
Translation: X:81.46, Y:9.51, Z:2.62
[[ 9.84763403e-01 -1.71068515e-01 -3.12506414e-02  8.14637736e+01]
 [ 1.70971901e-01  9.85259081e-01 -5.75785156e-03  9.50981269e+00]
 [ 3.17749653e-02  3.27139947e-04  9.99494995e-01  2.61701115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.80650248099998
Centerline is valid?  [True, True]
Translation: X:81.52, Y:9.51, Z:2.62
[[ 9.83812212e-01 -1.76456918e-01 -3.12487961e-02  8.15233623e+01]
 [ 1.76362702e-01  9.84308351e-01 -5.76784896e-03  9.51377642e+00]
 [ 3.17762278e-02  1.63358153e-04  9.99494995e-01  2.61889355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.86650248099998
Centerline is valid?  [True, True]
Translation: X:81.58, Y:9.52, Z:2.62
[[ 9.83467799e-01 -1.78366508e-01 -3.12486439e-02  8.15827696e+01]
 [ 1.78273229e-01  9.83964114e-01 -5.76867340e-03  9.51652777e+00]
 [ 3.17764823e-02  1.02507893e-04  9.99494995e-01  2.62076647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.92650248099999
Centerline is valid?  [True, True]
Translation: X:81.64, Y:9.52, Z:2.62
[[ 9.81552370e-01 -1.88622880e-01 -3.12466598e-02  8.16409812e+01]
 [ 1.88534445e-01  9.82049572e-01 -5.77940064e-03  9.52307774e+00]
 [ 3.17758960e-02 -2.18287267e-04  9.99494995e-01  2.62262027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.98650248099999
Centerline is valid?  [True, True]
Translation: X:81.70, Y:9.53, Z:2.62
[[ 9.81820093e-01 -1.87224659e-01 -3.12447151e-02  8.17000395e+01]
 [ 1.87135182e-01  9.82317108e-01 -5.78989467e-03  9.53062098e+00]
 [ 3.17762293e-02 -1.62350544e-04  9.99494995e-01  2.62450629e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.04650248099998
Centerline is valid?  [True, True]
Translation: X:81.76, Y:9.54, Z:2.63
[[ 9.83000927e-01 -1.80922809e-01 -3.12428228e-02  8.17585039e+01]
 [ 1.80829822e-01  9.83497298e-01 -5.80008808e-03  9.53989255e+00]
 [ 3.17766000e-02  5.18578964e-05  9.99494995e-01  2.62638381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.10650248099998
Centerline is valid?  [True, True]
Translation: X:81.82, Y:9.55, Z:2.63
[[ 9.81796935e-01 -1.87346714e-01 -3.12407800e-02  8.18167203e+01]
 [ 1.87256626e-01  9.82293840e-01 -5.81107028e-03  9.55202229e+00]
 [ 3.17763107e-02 -1.44752043e-04  9.99494995e-01  2.62826986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.16650248099998
Centerline is valid?  [True, True]
Translation: X:81.87, Y:9.56, Z:2.63
[[ 9.84664799e-01 -1.71637005e-01 -3.12405575e-02  8.18747621e+01]
 [ 1.71538951e-01  9.85160193e-01 -5.81226603e-03  9.56296801e+00]
 [ 3.17745536e-02  3.64161294e-04  9.99494995e-01  2.63014724e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.22650248099998
Centerline is valid?  [True, True]
Translation: X:81.93, Y:9.57, Z:2.63
[[ 9.85365789e-01 -1.67566142e-01 -3.12385898e-02  8.19341712e+01]
 [ 1.67465707e-01  9.85860706e-01 -5.82282241e-03  9.56875362e+00]
 [ 3.17726061e-02  5.06217458e-04  9.99494995e-01  2.63203380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.28650248099999
Centerline is valid?  [True, True]
Translation: X:81.99, Y:9.58, Z:2.63
[[ 9.86127356e-01 -1.63024849e-01 -3.12367700e-02  8.19937546e+01]
 [ 1.62921826e-01  9.86621741e-01 -5.83256847e-03  9.57553883e+00]
 [ 3.17697300e-02  6.62503720e-04  9.99494995e-01  2.63393183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.34650248099999
Centerline is valid?  [True, True]
Translation: X:82.05, Y:9.58, Z:2.64
[[ 9.85886269e-01 -1.64476581e-01 -3.12364975e-02  8.20540456e+01]
 [ 1.64374240e-01  9.86380795e-01 -5.83402782e-03  9.57959461e+00]
 [ 3.17706422e-02  6.17212406e-04  9.99494995e-01  2.63583918e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.40650248099998
Centerline is valid?  [True, True]
Translation: X:82.11, Y:9.58, Z:2.64
[[ 9.86630194e-01 -1.59953635e-01 -3.12361018e-02  8.21125266e+01]
 [ 1.59848960e-01  9.87124232e-01 -5.83614525e-03  9.58299496e+00]
 [ 3.17674257e-02  7.65058727e-04  9.99494995e-01  2.63768585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.46650248099998
Centerline is valid?  [True, True]
Translation: X:82.17, Y:9.59, Z:2.64
[[ 9.86284773e-01 -1.62070025e-01 -3.12354423e-02  8.21717281e+01]
 [ 1.61966299e-01  9.86779011e-01 -5.83967317e-03  9.58864770e+00]
 [ 3.17689148e-02  7.00491761e-04  9.99494995e-01  2.63956759e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.52650248099998
Centerline is valid?  [True, True]
Translation: X:82.23, Y:9.59, Z:2.64
[[ 9.85704143e-01 -1.65564840e-01 -3.12350263e-02  8.22318206e+01]
 [ 1.65462795e-01  9.86198730e-01 -5.84189739e-03  9.59323993e+00]
 [ 3.17711561e-02  5.90147698e-04  9.99494995e-01  2.64147147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.58650248099998
Centerline is valid?  [True, True]
Translation: X:82.29, Y:9.60, Z:2.64
[[ 9.86060890e-01 -1.63426752e-01 -3.12348858e-02  8.22901718e+01]
 [ 1.63323611e-01  9.86555250e-01 -5.84264849e-03  9.59585119e+00]
 [ 3.17697856e-02  6.59812826e-04  9.99494995e-01  2.64330994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.64650248099998
Centerline is valid?  [True, True]
Translation: X:82.35, Y:9.60, Z:2.65
[[ 9.86871472e-01 -1.58458586e-01 -3.12341960e-02  8.23503387e+01]
 [ 1.58352840e-01  9.87365281e-01 -5.84633347e-03  9.60196166e+00]
 [ 3.17659625e-02  8.23556056e-04  9.99494995e-01  2.64522436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.70650248099999
Centerline is valid?  [True, True]
Translation: X:82.41, Y:9.61, Z:2.65
[[ 9.87595776e-01 -1.53879877e-01 -3.12340615e-02  8.24074406e+01]
 [ 1.53771819e-01  9.88089085e-01 -5.84705221e-03  9.60930258e+00]
 [ 3.17617789e-02  9.71605608e-04  9.99494995e-01  2.64705142e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.76650248099997
Centerline is valid?  [True, True]
Translation: X:82.47, Y:9.61, Z:2.65
[[ 9.88574765e-01 -1.47459924e-01 -3.12330783e-02  8.24682519e+01]
 [ 1.47348499e-01  9.89067324e-01 -5.85229930e-03  9.61354152e+00]
 [ 3.17545968e-02  1.18328820e-03  9.99494995e-01  2.64897428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 82.82650248099998
Centerline is valid?  [True, True]
Translation: X:82.53, Y:9.62, Z:2.65
[[ 9.88840375e-01 -1.45668143e-01 -3.12330783e-02  8.25259079e+01]
 [ 1.45555825e-01  9.89332731e-01 -5.85229930e-03  9.62189237e+00]
 [ 3.17524002e-02  1.24083335e-03  9.99494995e-01  2.65082486e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.88650248099998
Centerline is valid?  [True, True]
Translation: X:82.59, Y:9.63, Z:2.65
[[ 9.88737940e-01 -1.46362273e-01 -3.12309271e-02  8.25851100e+01]
 [ 1.46249939e-01  9.89230293e-01 -5.86375710e-03  9.62804054e+00]
 [ 3.17528119e-02  1.23019795e-03  9.99494995e-01  2.65270579e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.94650248099998
Centerline is valid?  [True, True]
Translation: X:82.65, Y:9.63, Z:2.65
[[ 9.87333725e-01 -1.55553234e-01 -3.12299076e-02  8.26456792e+01]
 [ 1.55445313e-01  9.87827063e-01 -5.86918153e-03  9.63301347e+00]
 [ 3.17627181e-02  9.40298086e-04  9.99494995e-01  2.65462511e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.00650248099998
Centerline is valid?  [True, True]
Translation: X:82.70, Y:9.64, Z:2.66
[[ 9.85886215e-01 -1.64478184e-01 -3.12297693e-02  8.27049018e+01]
 [ 1.64374707e-01  9.86380505e-01 -5.86991728e-03  9.63744336e+00]
 [ 3.17699090e-02  6.53686349e-04  9.99494995e-01  2.65650124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.06650248099999
Centerline is valid?  [True, True]
Translation: X:82.76, Y:9.64, Z:2.66
[[ 9.84341718e-01 -1.73482582e-01 -3.12278057e-02  8.27645716e+01]
 [ 1.73383296e-01  9.84836867e-01 -5.88034515e-03  9.64243901e+00]
 [ 3.17744318e-02  3.73889152e-04  9.99494995e-01  2.65839017e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.12650248099999
Centerline is valid?  [True, True]
Translation: X:82.82, Y:9.65, Z:2.66
[[ 9.84026231e-01 -1.75263554e-01 -3.12260059e-02  8.28244608e+01]
 [ 1.75164862e-01  9.84521498e-01 -5.88988738e-03  9.64683569e+00]
 [ 3.17749567e-02  3.26104664e-04  9.99494995e-01  2.66028271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.18650248099998
Centerline is valid?  [True, True]
Translation: X:82.88, Y:9.66, Z:2.66
[[ 9.83866222e-01 -1.76159593e-01 -3.12258655e-02  8.28812207e+01]
 [ 1.76061329e-01  9.84361574e-01 -5.89063133e-03  9.65704588e+00]
 [ 3.17752334e-02  2.97925814e-04  9.99494995e-01  2.66211581e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.24650248099998
Centerline is valid?  [True, True]
Translation: X:82.94, Y:9.67, Z:2.66
[[ 9.83772186e-01 -1.76684383e-01 -3.12236207e-02  8.29400882e+01]
 [ 1.76586006e-01  9.84267516e-01 -5.90250608e-03  9.66547269e+00]
 [ 3.17752762e-02  2.93066837e-04  9.99494995e-01  2.66399897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.30650248099998
Centerline is valid?  [True, True]
Translation: X:83.00, Y:9.68, Z:2.67
[[ 9.83383583e-01 -1.78834630e-01 -3.12234461e-02  8.29996208e+01]
 [ 1.78737307e-01  9.83879121e-01 -5.90342942e-03  9.67568935e+00]
 [ 3.17758344e-02  2.24540902e-04  9.99494995e-01  2.66591864e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.36650248099998
Centerline is valid?  [True, True]
Translation: X:83.06, Y:9.68, Z:2.67
[[ 9.83655910e-01 -1.77330640e-01 -3.12233067e-02  8.30588648e+01]
 [ 1.77232536e-01  9.84151294e-01 -5.90416671e-03  9.68456462e+00]
 [ 3.17754474e-02  2.73882641e-04  9.99494995e-01  2.66782144e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.42650248099999
Centerline is valid?  [True, True]
Translation: X:83.12, Y:9.69, Z:2.67
[[ 9.83820871e-01 -1.76413208e-01 -3.12229744e-02  8.31168340e+01]
 [ 1.76314586e-01  9.84316152e-01 -5.90592374e-03  9.69305604e+00]
 [ 3.17751609e-02  3.05305251e-04  9.99494995e-01  2.66968166e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.48650248099999
Centerline is valid?  [True, True]
Translation: X:83.17, Y:9.71, Z:2.67
[[ 9.83776101e-01 -1.76662772e-01 -3.12225597e-02  8.31748589e+01]
 [ 1.76564206e-01  9.84271393e-01 -5.90811529e-03  9.70504332e+00]
 [ 3.17752163e-02  2.99476161e-04  9.99494995e-01  2.67156407e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.54650248099998
Centerline is valid?  [True, True]
Translation: X:83.23, Y:9.71, Z:2.67
[[ 9.84459682e-01 -1.72813210e-01 -3.12206484e-02  8.32341519e+01]
 [ 1.72712387e-01  9.84954520e-01 -5.91819793e-03  9.71204991e+00]
 [ 3.17736615e-02  4.34034534e-04  9.99494996e-01  2.67345284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.60650248099998
Centerline is valid?  [True, True]
Translation: X:83.29, Y:9.73, Z:2.68
[[ 9.84908753e-01 -1.70235223e-01 -3.12204770e-02  8.32913571e+01]
 [ 1.70133076e-01  9.85403319e-01 -5.91910183e-03  9.72503928e+00]
 [ 3.17724013e-02  5.18139398e-04  9.99494996e-01  2.67531620e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.66650248099998
Centerline is valid?  [True, True]
Translation: X:83.35, Y:9.73, Z:2.68
[[ 9.84703432e-01 -1.71419235e-01 -3.12185440e-02  8.33506249e+01]
 [ 1.71317361e-01  9.85198054e-01 -5.92927937e-03  9.73329497e+00]
 [ 3.17728414e-02  4.90303151e-04  9.99494996e-01  2.67721147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.72650248099998
Centerline is valid?  [True, True]
Translation: X:83.41, Y:9.74, Z:2.68
[[ 9.84652734e-01 -1.71710260e-01 -3.12182708e-02  8.34096836e+01]
 [ 1.71608487e-01  9.85147377e-01 -5.93071789e-03  9.73807340e+00]
 [ 3.17729626e-02  4.82377371e-04  9.99494996e-01  2.67908377e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.78650248099999
Centerline is valid?  [True, True]
Translation: X:83.47, Y:9.75, Z:2.68
[[ 9.84415680e-01 -1.73064470e-01 -3.12163006e-02  8.34673944e+01]
 [ 1.72963049e-01  9.84910396e-01 -5.94106962e-03  9.74841682e+00]
 [ 3.17734471e-02  4.49215553e-04  9.99494996e-01  2.68094260e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.84650248099999
Centerline is valid?  [True, True]
Translation: X:83.53, Y:9.76, Z:2.68
[[ 9.84036004e-01 -1.75210503e-01 -3.12157417e-02  8.35252367e+01]
 [ 1.75110068e-01  9.84530920e-01 -5.94400460e-03  9.75504817e+00]
 [ 3.17743150e-02  3.82923871e-04  9.99494996e-01  2.68278710e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.90650248099998
Centerline is valid?  [True, True]
Translation: X:83.58, Y:9.76, Z:2.68
[[ 9.83532837e-01 -1.78013483e-01 -3.12147189e-02  8.35839268e+01]
 [ 1.77914288e-01  9.84028003e-01 -5.94937096e-03  9.76244275e+00]
 [ 3.17752258e-02  2.97857200e-04  9.99494996e-01  2.68466138e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.96650248099998
Centerline is valid?  [True, True]
Translation: X:83.64, Y:9.77, Z:2.69
[[ 9.82943272e-01 -1.81240962e-01 -3.12127938e-02  8.36414520e+01]
 [ 1.81143073e-01  9.83438698e-01 -5.95945401e-03  9.77470517e+00]
 [ 3.17759665e-02  2.03823846e-04  9.99494996e-01  2.68652587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 84.02650248099998
Centerline is valid?  [True, True]
Translation: X:83.70, Y:9.78, Z:2.69
[[ 9.83098764e-01 -1.80395684e-01 -3.12124670e-02  8.37009127e+01]
 [ 1.80297314e-01  9.83594095e-01 -5.96116518e-03  9.77989493e+00]
 [ 3.17757667e-02  2.32890169e-04  9.99494996e-01  2.68841283e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.08650248099998
Centerline is valid?  [True, True]
Translation: X:83.76, Y:9.79, Z:2.69
[[ 9.83001812e-01 -1.80923538e-01 -3.12107533e-02  8.37590112e+01]
 [ 1.80825150e-01  9.83497139e-01 -5.97012385e-03  9.79103545e+00]
 [ 3.17758225e-02  2.24953415e-04  9.99494996e-01  2.69028906e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.14650248099998
Centerline is valid?  [True, True]
Translation: X:83.82, Y:9.80, Z:2.69
[[ 9.82853428e-01 -1.81727939e-01 -3.12104954e-02  8.38168259e+01]
 [ 1.81629914e-01  9.83348827e-01 -5.97147189e-03  9.80278493e+00]
 [ 3.17759873e-02  2.00322021e-04  9.99494996e-01  2.69216391e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.20650248099999
Centerline is valid?  [True, True]
Translation: X:83.88, Y:9.81, Z:2.69
[[ 9.82381051e-01 -1.84264465e-01 -3.12102198e-02  8.38760056e+01]
 [ 1.84167673e-01  9.82876692e-01 -5.97291213e-03  9.80957438e+00]
 [ 3.17763931e-02  1.19762137e-04  9.99494996e-01  2.69405170e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.26650248099997
Centerline is valid?  [True, True]
Translation: X:83.93, Y:9.82, Z:2.70
[[ 9.81055358e-01 -1.91197316e-01 -3.12085077e-02  8.39341326e+01]
 [ 1.91103742e-01  9.81551617e-01 -5.98184468e-03  9.82137616e+00]
 [ 3.17764738e-02 -9.55418191e-05  9.99494996e-01  2.69593276e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.32650248099998
Centerline is valid?  [True, True]
Translation: X:83.99, Y:9.83, Z:2.70
[[ 9.79907594e-01 -1.96995564e-01 -3.12066626e-02  8.39933303e+01]
 [ 1.96904621e-01  9.80404341e-01 -5.99145445e-03  9.83030288e+00]
 [ 3.17754375e-02 -2.73664370e-04  9.99494996e-01  2.69782967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.38650248099998
Centerline is valid?  [True, True]
Translation: X:84.05, Y:9.84, Z:2.70
[[ 9.80505560e-01 -1.93997446e-01 -3.12063844e-02  8.40519080e+01]
 [ 1.93904937e-01  9.81002019e-01 -5.99290340e-03  9.84306801e+00]
 [ 3.17761340e-02 -1.74996899e-04  9.99494996e-01  2.69973439e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.44650248099998
Centerline is valid?  [True, True]
Translation: X:84.11, Y:9.86, Z:2.70
[[ 9.81149995e-01 -1.90711472e-01 -3.12061023e-02  8.41087969e+01]
 [ 1.90617254e-01  9.81646133e-01 -5.99437218e-03  9.85931949e+00]
 [ 3.17765451e-02 -6.70432812e-05  9.99494996e-01  2.70160729e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.50650248099998
Centerline is valid?  [True, True]
Translation: X:84.17, Y:9.87, Z:2.70
[[ 9.81740591e-01 -1.87647846e-01 -3.12041453e-02  8.41666007e+01]
 [ 1.87551757e-01  9.82236369e-01 -6.00454203e-03  9.87062760e+00]
 [ 3.17765857e-02  4.25103762e-05  9.99494996e-01  2.70347472e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.56650248099999
Centerline is valid?  [True, True]
Translation: X:84.22, Y:9.88, Z:2.71
[[ 9.81706648e-01 -1.87825408e-01 -3.12037357e-02  8.42239709e+01]
 [ 1.87729340e-01  9.82202431e-01 -6.00666997e-03  9.88498815e+00]
 [ 3.17765903e-02  3.89311322e-05  9.99494996e-01  2.70535101e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.62650248099997
Centerline is valid?  [True, True]
Translation: X:84.28, Y:9.90, Z:2.71
[[ 9.81230061e-01 -1.90299577e-01 -3.12031713e-02  8.42817521e+01]
 [ 1.90204667e-01  9.81726066e-01 -6.00960052e-03  9.89669462e+00]
 [ 3.17765910e-02 -3.81881004e-05  9.99494996e-01  2.70722379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.68650248099998
Centerline is valid?  [True, True]
Translation: X:84.34, Y:9.90, Z:2.71
[[ 9.78903558e-01 -2.01926489e-01 -3.12012266e-02  8.43401153e+01]
 [ 2.01837148e-01  9.79400597e-01 -6.01967983e-03  9.90495418e+00]
 [ 3.17740328e-02 -4.04880610e-04  9.99494996e-01  2.70909041e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.74650248099998
Centerline is valid?  [True, True]
Translation: X:84.40, Y:9.92, Z:2.71
[[ 9.78580421e-01 -2.03487013e-01 -3.11992765e-02  8.43988221e+01]
 [ 2.03398143e-01  9.79077544e-01 -6.02977040e-03  9.91530358e+00]
 [ 3.17734910e-02 -4.45259642e-04  9.99494996e-01  2.71098029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.80650248099998
Centerline is valid?  [True, True]
Translation: X:84.46, Y:9.93, Z:2.71
[[ 9.78622301e-01 -2.03285551e-01 -3.11989985e-02  8.44563129e+01]
 [ 2.03196533e-01  9.79119397e-01 -6.03120863e-03  9.92894428e+00]
 [ 3.17736021e-02 -4.37253052e-04  9.99494996e-01  2.71285643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.86650248099998
Centerline is valid?  [True, True]
Translation: X:84.52, Y:9.94, Z:2.71
[[ 9.79488908e-01 -1.99068383e-01 -3.11970824e-02  8.45153622e+01]
 [ 1.98976909e-01  9.79985558e-01 -6.04110353e-03  9.94029944e+00]
 [ 3.17752829e-02 -2.90305119e-04  9.99494996e-01  2.71476318e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.92650248099999
Centerline is valid?  [True, True]
Translation: X:84.57, Y:9.96, Z:2.72
[[ 9.80647458e-01 -1.93280404e-01 -3.11969451e-02  8.45718777e+01]
 [ 1.93185977e-01  9.81143555e-01 -6.04181247e-03  9.95788240e+00]
 [ 3.17764455e-02 -1.01924269e-04  9.99494996e-01  2.71663311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.98650248099999
Centerline is valid?  [True, True]
Translation: X:84.63, Y:9.97, Z:2.72
[[ 9.81920113e-01 -1.86707687e-01 -3.11950416e-02  8.46291462e+01]
 [ 1.86609627e-01  9.82415505e-01 -6.05162472e-03  9.97279201e+00]
 [ 3.17763774e-02  1.20916962e-04  9.99494996e-01  2.71850590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.04650248099998
Centerline is valid?  [True, True]
Translation: X:84.69, Y:9.99, Z:2.72
[[ 9.82362928e-01 -1.84363722e-01 -3.11944852e-02  8.46864669e+01]
 [ 1.84264389e-01  9.82858066e-01 -6.05449119e-03  9.98582225e+00]
 [ 3.17759799e-02  1.99674937e-04  9.99494996e-01  2.72037241e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.10650248099998
Centerline is valid?  [True, True]
Translation: X:84.74, Y:10.00, Z:2.72
[[ 9.82251688e-01 -1.84955801e-01 -3.11925087e-02  8.47437795e+01]
 [ 1.84856443e-01  9.82746822e-01 -6.06465725e-03  9.99643355e+00]
 [ 3.17760323e-02  1.90883617e-04  9.99494996e-01  2.72222042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.16650248099998
Centerline is valid?  [True, True]
Translation: X:84.80, Y:10.01, Z:2.72
[[ 9.81141993e-01 -1.90754972e-01 -3.11918188e-02  8.48011591e+01]
 [ 1.90658429e-01  9.81637683e-01 -6.06820307e-03  1.00126145e+01]
 [ 3.17766047e-02  6.78568713e-06  9.99494996e-01  2.72410759e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 85.22650248099998
Centerline is valid?  [True, True]
Translation: X:84.86, Y:10.02, Z:2.73
[[ 9.80829951e-01 -1.92353291e-01 -3.11900379e-02  8.48592792e+01]
 [ 1.92257264e-01  9.81325741e-01 -6.07734309e-03  1.00197678e+01]
 [ 3.17765840e-02 -3.56712418e-05  9.99494996e-01  2.72596030e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.28650248099999
Centerline is valid?  [True, True]
Translation: X:84.92, Y:10.03, Z:2.73
[[ 9.79520498e-01 -1.98914164e-01 -3.11889450e-02  8.49168420e+01]
 [ 1.98821279e-01  9.80016886e-01 -6.08294695e-03  1.00334159e+01]
 [ 3.17756770e-02 -2.42654726e-04  9.99494996e-01  2.72783684e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.34650248099999
Centerline is valid?  [True, True]
Translation: X:84.98, Y:10.05, Z:2.73
[[ 9.79022254e-01 -2.01352167e-01 -3.11886326e-02  8.49754860e+01]
 [ 2.01260468e-01  9.79518863e-01 -6.08454828e-03  1.00477383e+01]
 [ 3.17749909e-02 -3.20130608e-04  9.99494996e-01  2.72975319e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.40650248099998
Centerline is valid?  [True, True]
Translation: X:85.03, Y:10.06, Z:2.73
[[ 9.79187455e-01 -2.00547397e-01 -3.11876532e-02  8.50336245e+01]
 [ 2.00455130e-01  9.79683958e-01 -6.08956409e-03  1.00588592e+01]
 [ 3.17752898e-02 -2.88900309e-04  9.99494996e-01  2.73163262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.46650248099998
Centerline is valid?  [True, True]
Translation: X:85.09, Y:10.07, Z:2.73
[[ 9.79196810e-01 -2.00502019e-01 -3.11856943e-02  8.50921637e+01]
 [ 2.00409409e-01  9.79693250e-01 -6.09957959e-03  1.00731173e+01]
 [ 3.17753922e-02 -2.77217695e-04  9.99494996e-01  2.73354126e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.52650248099998
Centerline is valid?  [True, True]
Translation: X:85.15, Y:10.09, Z:2.74
[[ 9.80214748e-01 -1.95464848e-01 -3.11855997e-02  8.51500246e+01]
 [ 1.95369672e-01  9.80710702e-01 -6.10006295e-03  1.00857815e+01]
 [ 3.17763993e-02 -1.13348738e-04  9.99494996e-01  2.73542365e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.58650248099998
Centerline is valid?  [True, True]
Translation: X:85.21, Y:10.10, Z:2.74
[[ 9.80819743e-01 -1.92406380e-01 -3.11835958e-02  8.52083998e+01]
 [ 1.92309332e-01  9.81315334e-01 -6.11028979e-03  1.00977697e+01]
 [ 3.17765995e-02 -3.80363276e-06  9.99494996e-01  2.73731326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.64650248099998
Centerline is valid?  [True, True]
Translation: X:85.26, Y:10.11, Z:2.74
[[ 9.80835053e-01 -1.92328365e-01 -3.11833076e-02  8.52646325e+01]
 [ 1.92231231e-01  9.81330627e-01 -6.11176033e-03  1.01115875e+01]
 [ 3.17765997e-02  2.23147444e-07  9.99494996e-01  2.73915145e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.70650248099999
Centerline is valid?  [True, True]
Translation: X:85.32, Y:10.12, Z:2.74
[[ 9.80653764e-01 -1.93250777e-01 -3.11822523e-02  8.53231409e+01]
 [ 1.93153938e-01  9.81149396e-01 -6.11713998e-03  1.01223160e+01]
 [ 3.17765900e-02 -2.41784857e-05  9.99494996e-01  2.74103987e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.76650248099997
Centerline is valid?  [True, True]
Translation: X:85.38, Y:10.13, Z:2.74
[[ 9.80515305e-01 -1.93952110e-01 -3.11819731e-02  8.53795888e+01]
 [ 1.93855581e-01  9.81010997e-01 -6.11856259e-03  1.01347286e+01]
 [ 3.17765667e-02 -4.54552626e-05  9.99494996e-01  2.74287622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.82650248099998
Centerline is valid?  [True, True]
Translation: X:85.44, Y:10.14, Z:2.74
[[ 9.82150395e-01 -1.85494819e-01 -3.11812887e-02  8.54376851e+01]
 [ 1.85393911e-01  9.82645215e-01 -6.12204856e-03  1.01449340e+01]
 [ 3.17757524e-02  2.31951352e-04  9.99494996e-01  2.74474948e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.88650248099998
Centerline is valid?  [True, True]
Translation: X:85.50, Y:10.16, Z:2.75
[[ 9.82366713e-01 -1.84346115e-01 -3.11793533e-02  8.54953433e+01]
 [ 1.84244316e-01  9.82861349e-01 -6.13188964e-03  1.01579861e+01]
 [ 3.17753713e-02  2.79145649e-04  9.99494996e-01  2.74662347e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.94650248099998
Centerline is valid?  [True, True]
Translation: X:85.55, Y:10.17, Z:2.75
[[ 9.83882094e-01 -1.76079239e-01 -3.11789428e-02  8.55542127e+01]
 [ 1.75973218e-01  9.84375843e-01 -6.13397632e-03  1.01651210e+01]
 [ 3.17718640e-02  5.48450576e-04  9.99494996e-01  2.74850267e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.00650248099998
Centerline is valid?  [True, True]
Translation: X:85.61, Y:10.18, Z:2.75
[[ 9.83690552e-01 -1.77146547e-01 -3.11769089e-02  8.56098048e+01]
 [ 1.77040735e-01  9.84184345e-01 -6.14429632e-03  1.01824508e+01]
 [ 3.17722666e-02  5.24503363e-04  9.99494996e-01  2.75033826e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.06650248099999
Centerline is valid?  [True, True]
Translation: X:85.67, Y:10.19, Z:2.75
[[ 9.83878448e-01 -1.76100099e-01 -3.11762019e-02  8.56678195e+01]
 [ 1.75993648e-01  9.84372104e-01 -6.14788155e-03  1.01934262e+01]
 [ 3.17716261e-02  5.61954644e-04  9.99494996e-01  2.75221364e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.12650248099997
Centerline is valid?  [True, True]
Translation: X:85.73, Y:10.20, Z:2.75
[[ 9.83791956e-01 -1.76583003e-01 -3.11741787e-02  8.57265992e+01]
 [ 1.76476470e-01  9.84285595e-01 -6.15812363e-03  1.02009925e+01]
 [ 3.17717150e-02  5.56803472e-04  9.99494997e-01  2.75408868e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.18650248099998
Centerline is valid?  [True, True]
Translation: X:85.78, Y:10.21, Z:2.76
[[ 9.82094824e-01 -1.85790102e-01 -3.11736093e-02  8.57833312e+01]
 [ 1.85688106e-01  9.82589420e-01 -6.16100491e-03  1.02114537e+01]
 [ 3.17755124e-02  2.62122557e-04  9.99494997e-01  2.75592121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.24650248099998
Centerline is valid?  [True, True]
Translation: X:85.84, Y:10.22, Z:2.76
[[ 9.80600908e-01 -1.93520306e-01 -3.11729110e-02  8.58430550e+01]
 [ 1.93422097e-01  9.81096270e-01 -6.16453587e-03  1.02206049e+01]
 [ 3.17765896e-02  1.54196460e-05  9.99494997e-01  2.75783864e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.30650248099998
Centerline is valid?  [True, True]
Translation: X:85.90, Y:10.23, Z:2.76
[[ 9.80246495e-01 -1.95307632e-01 -3.11727108e-02  8.58997929e+01]
 [ 1.95210293e-01  9.80742029e-01 -6.16554826e-03  1.02326843e+01]
 [ 3.17765663e-02 -4.14769473e-05  9.99494997e-01  2.75968223e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.36650248099998
Centerline is valid?  [True, True]
Translation: X:85.96, Y:10.25, Z:2.76
[[ 9.80382909e-01 -1.94621834e-01 -3.11719997e-02  8.59583962e+01]
 [ 1.94524035e-01  9.80878352e-01 -6.16914127e-03  1.02452993e+01]
 [ 3.17765893e-02 -1.55825027e-05  9.99494997e-01  2.76158605e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 86.42650248099999
Centerline is valid?  [True, True]
Translation: X:86.02, Y:10.26, Z:2.76
[[ 9.80546891e-01 -1.93794006e-01 -3.11717521e-02  8.60158963e+01]
 [ 1.93695749e-01  9.81042243e-01 -6.17039192e-03  1.02595584e+01]
 [ 3.17765906e-02  1.25227261e-05  9.99494997e-01  2.76346675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.48650248099999
Centerline is valid?  [True, True]
Translation: X:86.07, Y:10.28, Z:2.77
[[ 9.80262392e-01 -1.95228308e-01 -3.11697025e-02  8.60732643e+01]
 [ 1.95130447e-01  9.80757823e-01 -6.18072820e-03  1.02764054e+01]
 [ 3.17765827e-02 -2.34225711e-05  9.99494997e-01  2.76535499e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.54650248099998
Centerline is valid?  [True, True]
Translation: X:86.13, Y:10.29, Z:2.77
[[ 9.81049121e-01 -1.91235957e-01 -3.11677711e-02  8.61304811e+01]
 [ 1.91135771e-01  9.81544087e-01 -6.19045273e-03  1.02925601e+01]
 [ 3.17763786e-02  1.15862242e-04  9.99494997e-01  2.76723462e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.60650248099998
Centerline is valid?  [True, True]
Translation: X:86.19, Y:10.31, Z:2.77
[[ 9.81605472e-01 -1.88359480e-01 -3.11673323e-02  8.61882217e+01]
 [ 1.88257774e-01  9.82100128e-01 -6.19266135e-03  1.03116495e+01]
 [ 3.17758875e-02  2.11257679e-04  9.99494997e-01  2.76915238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.66650248099998
Centerline is valid?  [True, True]
Translation: X:86.24, Y:10.33, Z:2.77
[[ 9.82439823e-01 -1.83958150e-01 -3.11671826e-02  8.62443178e+01]
 [ 1.83854204e-01  9.82934013e-01 -6.19341444e-03  1.03297178e+01]
 [ 3.17746129e-02  3.54439433e-04  9.99494997e-01  2.77101323e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.72650248099998
Centerline is valid?  [True, True]
Translation: X:86.30, Y:10.37, Z:2.77
[[ 9.80219338e-01 -1.95445093e-01 -3.11651254e-02  8.62979021e+01]
 [ 1.95346609e-01  9.80714645e-01 -6.20374920e-03  1.03672364e+01]
 [ 3.17765872e-02 -6.96663677e-06  9.99494997e-01  2.77291216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.78650248099999
Centerline is valid?  [True, True]
Translation: X:86.36, Y:10.37, Z:2.77
[[ 9.82902737e-01 -1.81468900e-01 -3.11648386e-02  8.63571581e+01]
 [ 1.81363329e-01  9.83396583e-01 -6.20518936e-03  1.03702850e+01]
 [ 3.17734447e-02  4.46938730e-04  9.99494997e-01  2.77477810e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.84650248099999
Centerline is valid?  [True, True]
Translation: X:86.41, Y:10.40, Z:2.78
[[ 9.81833798e-01 -1.87166161e-01 -3.11644150e-02  8.64089891e+01]
 [ 1.87063388e-01  9.82328233e-01 -6.20731603e-03  1.04047536e+01]
 [ 3.17754843e-02  2.64831611e-04  9.99494997e-01  2.77660733e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.90650248099998
Centerline is valid?  [True, True]
Translation: X:86.47, Y:10.41, Z:2.78
[[ 9.85392175e-01 -1.67424861e-01 -3.11637308e-02  8.64691641e+01]
 [ 1.67312078e-01  9.85884423e-01 -6.21074909e-03  1.04103923e+01]
 [ 3.17636706e-02  9.05955004e-04  9.99494997e-01  2.77851716e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.96650248099998
Centerline is valid?  [True, True]
Translation: X:86.53, Y:10.43, Z:2.78
[[ 9.85803576e-01 -1.64985281e-01 -3.11635566e-02  8.65265791e+01]
 [ 1.64871252e-01  9.86295537e-01 -6.21162331e-03  1.04251305e+01]
 [ 3.17613032e-02  9.85465885e-04  9.99494997e-01  2.78039854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.02650248099998
Centerline is valid?  [True, True]
Translation: X:86.58, Y:10.45, Z:2.78
[[ 9.87538733e-01 -1.54260204e-01 -3.11615246e-02  8.65828332e+01]
 [ 1.54140514e-01  9.88029347e-01 -6.22180035e-03  1.04451791e+01]
 [ 3.17482770e-02  1.34101542e-03  9.99494997e-01  2.78227291e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.08650248099998
Centerline is valid?  [True, True]
Translation: X:86.64, Y:10.46, Z:2.78
[[ 9.88634880e-01 -1.47071588e-01 -3.11612410e-02  8.66398799e+01]
 [ 1.46948287e-01  9.89124599e-01 -6.22322045e-03  1.04648460e+01]
 [ 3.17376089e-02  1.57340182e-03  9.99494997e-01  2.78417333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.14650248099998
Centerline is valid?  [True, True]
Translation: X:86.70, Y:10.49, Z:2.79
[[ 9.88217818e-01 -1.49848359e-01 -3.11611017e-02  8.66954087e+01]
 [ 1.49726413e-01  9.88707876e-01 -6.22391771e-03  1.04882844e+01]
 [ 3.17418706e-02  1.48494640e-03  9.99494997e-01  2.78605021e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.20650248099999
Centerline is valid?  [True, True]
Translation: X:86.75, Y:10.50, Z:2.79
[[ 9.88575563e-01 -1.47470231e-01 -3.11590560e-02  8.67541720e+01]
 [ 1.47346784e-01  9.89065246e-01 -6.23414256e-03  1.04996033e+01]
 [ 3.17376898e-02  1.57173428e-03  9.99494997e-01  2.78794875e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.26650248099997
Centerline is valid?  [True, True]
Translation: X:86.81, Y:10.50, Z:2.79
[[ 9.88622503e-01 -1.47155285e-01 -3.11587680e-02  8.68139080e+01]
 [ 1.47031637e-01  9.89112135e-01 -6.23558165e-03  1.05039546e+01]
 [ 3.17371143e-02  1.58331167e-03  9.99494997e-01  2.78983757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.32650248099998
Centerline is valid?  [True, True]
Translation: X:86.87, Y:10.51, Z:2.79
[[ 9.87970608e-01 -1.51470284e-01 -3.11581537e-02  8.68728160e+01]
 [ 1.51348679e-01  9.88460751e-01 -6.23864947e-03  1.05117719e+01]
 [ 3.17435821e-02  1.44785690e-03  9.99494997e-01  2.79172153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.38650248099998
Centerline is valid?  [True, True]
Translation: X:86.93, Y:10.52, Z:2.79
[[ 9.87505163e-01 -1.54475821e-01 -3.11572449e-02  8.69326351e+01]
 [ 1.54355565e-01  9.87995639e-01 -6.24318525e-03  1.05168742e+01]
 [ 3.17476432e-02  1.35588354e-03  9.99494997e-01  2.79361631e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.44650248099998
Centerline is valid?  [True, True]
Translation: X:86.99, Y:10.52, Z:2.80
[[ 9.86595153e-01 -1.60185037e-01 -3.11569741e-02  8.69919872e+01]
 [ 1.60067577e-01  9.87086307e-01 -6.24453634e-03  1.05216441e+01]
 [ 3.17549038e-02  1.17360794e-03  9.99494997e-01  2.79549572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.50650248099998
Centerline is valid?  [True, True]
Translation: X:87.05, Y:10.52, Z:2.80
[[ 9.85262153e-01 -1.68189954e-01 -3.11549259e-02  8.70530525e+01]
 [ 1.68076163e-01  9.85754169e-01 -6.25473855e-03  1.05229560e+01]
 [ 3.17630823e-02  9.26156778e-04  9.99494997e-01  2.79740311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.56650248099999
Centerline is valid?  [True, True]
Translation: X:87.11, Y:10.52, Z:2.80
[[ 9.83827900e-01 -1.76386069e-01 -3.11547279e-02  8.71141226e+01]
 [ 1.76276346e-01  9.84320840e-01 -6.25572475e-03  1.05236801e+01]
 [ 3.17696706e-02  6.62714945e-04  9.99494997e-01  2.79931081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 87.62650248099997
Centerline is valid?  [True, True]
Translation: X:87.18, Y:10.52, Z:2.80
[[ 9.82728790e-01 -1.82410324e-01 -3.11544316e-02  8.71754390e+01]
 [ 1.82303577e-01  9.83222382e-01 -6.25719953e-03  1.05202684e+01]
 [ 3.17731123e-02  4.69565802e-04  9.99494997e-01  2.80120004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.68650248099998
Centerline is valid?  [True, True]
Translation: X:87.23, Y:10.52, Z:2.80
[[ 9.82744175e-01 -1.82327467e-01 -3.11541406e-02  8.72342094e+01]
 [ 1.82220633e-01  9.83237749e-01 -6.25864844e-03  1.05193336e+01]
 [ 3.17730506e-02  4.73723092e-04  9.99494997e-01  2.80302539e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.74650248099998
Centerline is valid?  [True, True]
Translation: X:87.30, Y:10.52, Z:2.80
[[ 9.82553456e-01 -1.83352582e-01 -3.11534254e-02  8.72962264e+01]
 [ 1.83246150e-01  9.83047116e-01 -6.26220606e-03  1.05158176e+01]
 [ 3.17734767e-02  4.44206930e-04  9.99494997e-01  2.80493471e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.80650248099998
Centerline is valid?  [True, True]
Translation: X:87.36, Y:10.52, Z:2.81
[[ 9.82634443e-01 -1.82918082e-01 -3.11532660e-02  8.73563688e+01]
 [ 1.82811407e-01  9.83128051e-01 -6.26299913e-03  1.05176917e+01]
 [ 3.17732655e-02  4.59066282e-04  9.99494997e-01  2.80682065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.86650248099998
Centerline is valid?  [True, True]
Translation: X:87.42, Y:10.52, Z:2.81
[[ 9.82978719e-01 -1.81059205e-01 -3.11512712e-02  8.74167386e+01]
 [ 1.80951282e-01  9.83472056e-01 -6.27290521e-03  1.05157487e+01]
 [ 3.17721720e-02  5.29269853e-04  9.99494997e-01  2.80868509e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.92650248099999
Centerline is valid?  [True, True]
Translation: X:87.48, Y:10.52, Z:2.81
[[ 9.83754849e-01 -1.76794015e-01 -3.11492241e-02  8.74765333e+01]
 [ 1.76683632e-01  9.84247640e-01 -6.28305417e-03  1.05160439e+01]
 [ 3.17693567e-02  6.77426967e-04  9.99494997e-01  2.81054527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.98650248099997
Centerline is valid?  [True, True]
Translation: X:87.53, Y:10.52, Z:2.81
[[ 9.84232498e-01 -1.74115315e-01 -3.11487957e-02  8.75348594e+01]
 [ 1.74003524e-01  9.84724972e-01 -6.28517723e-03  1.05187460e+01]
 [ 3.17673426e-02  7.66075449e-04  9.99494997e-01  2.81237886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.04650248099998
Centerline is valid?  [True, True]
Translation: X:87.59, Y:10.52, Z:2.81
[[ 9.84485212e-01 -1.72681086e-01 -3.11465925e-02  8.75944074e+01]
 [ 1.72568233e-01  9.84977444e-01 -6.29607673e-03  1.05227803e+01]
 [ 3.17659044e-02  8.23482017e-04  9.99494997e-01  2.81425413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.10650248099998
Centerline is valid?  [True, True]
Translation: X:87.65, Y:10.53, Z:2.82
[[ 9.84075691e-01 -1.75000135e-01 -3.11446124e-02  8.76538944e+01]
 [ 1.74888132e-01  9.84568117e-01 -6.30585634e-03  1.05260271e+01]
 [ 3.17675181e-02  7.58616847e-04  9.99494997e-01  2.81612297e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.16650248099998
Centerline is valid?  [True, True]
Translation: X:87.71, Y:10.53, Z:2.82
[[ 9.82997264e-01 -1.80959741e-01 -3.11440519e-02  8.77134049e+01]
 [ 1.80850637e-01  9.83490340e-01 -6.30862316e-03  1.05314037e+01]
 [ 3.17714810e-02  5.68937693e-04  9.99494997e-01  2.81800973e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.22650248099998
Centerline is valid?  [True, True]
Translation: X:87.77, Y:10.54, Z:2.82
[[ 9.82337928e-01 -1.84505496e-01 -3.11435003e-02  8.77726468e+01]
 [ 1.84398085e-01  9.82831376e-01 -6.31134506e-03  1.05392694e+01]
 [ 3.17732871e-02  4.57071804e-04  9.99494997e-01  2.81990381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.28650248099999
Centerline is valid?  [True, True]
Translation: X:87.83, Y:10.55, Z:2.82
[[ 9.81726793e-01 -1.87730139e-01 -3.11431979e-02  8.78305205e+01]
 [ 1.87624302e-01  9.82220581e-01 -6.31283693e-03  1.05480500e+01]
 [ 3.17745997e-02  3.54260378e-04  9.99494997e-01  2.82176172e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.34650248099999
Centerline is valid?  [True, True]
Translation: X:87.89, Y:10.56, Z:2.82
[[ 9.81671301e-01 -1.88020470e-01 -3.11409550e-02  8.78890665e+01]
 [ 1.87914428e-01  9.82165045e-01 -6.32388202e-03  1.05578236e+01]
 [ 3.17745767e-02  3.56138742e-04  9.99494997e-01  2.82364144e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.40650248099998
Centerline is valid?  [True, True]
Translation: X:87.95, Y:10.57, Z:2.83
[[ 9.81530755e-01 -1.88753124e-01 -3.11389576e-02  8.79453537e+01]
 [ 1.88647139e-01  9.82024511e-01 -6.33370185e-03  1.05711509e+01]
 [ 3.17747256e-02  3.42447885e-04  9.99494997e-01  2.82547395e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.46650248099998
Centerline is valid?  [True, True]
Translation: X:88.00, Y:10.58, Z:2.83
[[ 9.81987510e-01 -1.86362444e-01 -3.11379059e-02  8.80024165e+01]
 [ 1.86255094e-01  9.82480971e-01 -6.33886805e-03  1.05845830e+01]
 [ 3.17737270e-02  4.25095679e-04  9.99494997e-01  2.82733394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.52650248099998
Centerline is valid?  [True, True]
Translation: X:88.06, Y:10.60, Z:2.83
[[ 9.82215447e-01 -1.85157447e-01 -3.11373500e-02  8.80595502e+01]
 [ 1.85049405e-01  9.82708757e-01 -6.34159760e-03  1.05974840e+01]
 [ 3.17731405e-02  4.66867033e-04  9.99494997e-01  2.82919415e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.58650248099998
Centerline is valid?  [True, True]
Translation: X:88.12, Y:10.61, Z:2.83
[[ 9.82181260e-01 -1.85339098e-01 -3.11350601e-02  8.81170107e+01]
 [ 1.85230792e-01  9.82674511e-01 -6.35282014e-03  1.06107604e+01]
 [ 3.17730560e-02  4.72449043e-04  9.99494997e-01  2.83106218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.64650248099998
Centerline is valid?  [True, True]
Translation: X:88.17, Y:10.63, Z:2.83
[[ 9.82359419e-01 -1.84392535e-01 -3.11346230e-02  8.81741844e+01]
 [ 1.84283686e-01  9.82852551e-01 -6.35496195e-03  1.06250086e+01]
 [ 3.17725512e-02  5.05253663e-04  9.99494997e-01  2.83293255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.70650248099999
Centerline is valid?  [True, True]
Translation: X:88.23, Y:10.64, Z:2.83
[[ 9.82763148e-01 -1.82228586e-01 -3.11341949e-02  8.82306701e+01]
 [ 1.82118584e-01  9.83256024e-01 -6.35705855e-03  1.06381009e+01]
 [ 3.17713225e-02  5.77367383e-04  9.99494997e-01  2.83477418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.76650248099997
Centerline is valid?  [True, True]
Translation: X:88.29, Y:10.65, Z:2.84
[[ 9.83705433e-01 -1.77071520e-01 -3.11335331e-02  8.82884996e+01]
 [ 1.76958832e-01  9.84197703e-01 -6.36029768e-03  1.06519403e+01]
 [ 3.17677794e-02  7.47305713e-04  9.99494997e-01  2.83666180e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 88.82650248099998
Centerline is valid?  [True, True]
Translation: X:88.35, Y:10.67, Z:2.84
[[ 9.84471177e-01 -1.72763807e-01 -3.11314831e-02  8.83459939e+01]
 [ 1.72648648e-01  9.84962874e-01 -6.37031623e-03  1.06651689e+01]
 [ 3.17639151e-02  8.96584231e-04  9.99494997e-01  2.83853135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.88650248099998
Centerline is valid?  [True, True]
Translation: X:88.40, Y:10.68, Z:2.84
[[ 9.84701062e-01 -1.71448728e-01 -3.11312206e-02  8.84031413e+01]
 [ 1.71332873e-01  9.85192595e-01 -6.37159869e-03  1.06777944e+01]
 [ 3.17626505e-02  9.40318529e-04  9.99494997e-01  2.84039109e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.94650248099998
Centerline is valid?  [True, True]
Translation: X:88.46, Y:10.69, Z:2.84
[[ 9.84897458e-01 -1.70316996e-01 -3.11306570e-02  8.84605045e+01]
 [ 1.70200489e-01  9.85388838e-01 -6.37435123e-03  1.06909635e+01]
 [ 3.17614623e-02  9.79629281e-04  9.99494997e-01  2.84226021e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.00650248099998
Centerline is valid?  [True, True]
Translation: X:88.52, Y:10.71, Z:2.84
[[ 9.84299551e-01 -1.73739453e-01 -3.11287097e-02  8.85183149e+01]
 [ 1.73624354e-01  9.84791262e-01 -6.38384668e-03  1.07050979e+01]
 [ 3.17644073e-02  8.78915301e-04  9.99494997e-01  2.84414574e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.06650248099999
Centerline is valid?  [True, True]
Translation: X:88.58, Y:10.72, Z:2.85
[[ 9.83300767e-01 -1.79306220e-01 -3.11268545e-02  8.85763807e+01]
 [ 1.79193620e-01  9.83793056e-01 -6.39287970e-03  1.07169611e+01]
 [ 3.17686664e-02  7.08389802e-04  9.99494997e-01  2.84602498e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.12650248099997
Centerline is valid?  [True, True]
Translation: X:88.63, Y:10.73, Z:2.85
[[ 9.82779615e-01 -1.82141115e-01 -3.11262344e-02  8.86342662e+01]
 [ 1.82029839e-01  9.83272205e-01 -6.39589723e-03  1.07305080e+01]
 [ 3.17705170e-02  6.19853970e-04  9.99494998e-01  2.84791268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.18650248099998
Centerline is valid?  [True, True]
Translation: X:88.69, Y:10.74, Z:2.85
[[ 9.82865411e-01 -1.81677627e-01 -3.11259468e-02  8.86924974e+01]
 [ 1.81566075e-01  9.83357938e-01 -6.39729657e-03  1.07416339e+01]
 [ 3.17701925e-02  6.36265521e-04  9.99494998e-01  2.84979654e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.24650248099998
Centerline is valid?  [True, True]
Translation: X:88.75, Y:10.75, Z:2.85
[[ 9.83049885e-01 -1.80677120e-01 -3.11239876e-02  8.87496937e+01]
 [ 1.80564766e-01  9.83542230e-01 -6.40681429e-03  1.07542439e+01]
 [ 3.17693209e-02  6.78322512e-04  9.99494998e-01  2.85165323e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.30650248099998
Centerline is valid?  [True, True]
Translation: X:88.81, Y:10.76, Z:2.85
[[ 9.84158905e-01 -1.74535580e-01 -3.11220487e-02  8.88074688e+01]
 [ 1.74419856e-01  9.84650469e-01 -6.41621901e-03  1.07636991e+01]
 [ 3.17641984e-02  8.86275817e-04  9.99494998e-01  2.85350777e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.36650248099998
Centerline is valid?  [True, True]
Translation: X:88.86, Y:10.78, Z:2.86
[[ 9.84374356e-01 -1.73316382e-01 -3.11216885e-02  8.88648530e+01]
 [ 1.73199994e-01  9.84865763e-01 -6.41796592e-03  1.07772724e+01]
 [ 3.17630241e-02  9.27404798e-04  9.99494998e-01  2.85538076e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.42650248099999
Centerline is valid?  [True, True]
Translation: X:88.92, Y:10.79, Z:2.86
[[ 9.84935949e-01 -1.70096009e-01 -3.11211223e-02  8.89231058e+01]
 [ 1.69977928e-01  9.85426952e-01 -6.42071012e-03  1.07896552e+01]
 [ 3.17597299e-02  1.03408434e-03  9.99494998e-01  2.85727261e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.48650248099997
Centerline is valid?  [True, True]
Translation: X:88.98, Y:10.80, Z:2.86
[[ 9.85469500e-01 -1.66977116e-01 -3.11208412e-02  8.89808877e+01]
 [ 1.66857438e-01  9.85960117e-01 -6.42207209e-03  1.07981560e+01]
 [ 3.17562473e-02  1.13601233e-03  9.99494998e-01  2.85912561e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.54650248099998
Centerline is valid?  [True, True]
Translation: X:89.04, Y:10.81, Z:2.86
[[ 9.85526871e-01 -1.66638298e-01 -3.11201416e-02  8.90387547e+01]
 [ 1.66518345e-01  9.86017421e-01 -6.42546045e-03  1.08100390e+01]
 [ 3.17557296e-02  1.15038945e-03  9.99494998e-01  2.86100187e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.60650248099998
Centerline is valid?  [True, True]
Translation: X:89.10, Y:10.82, Z:2.86
[[ 9.84983049e-01 -1.69823602e-01 -3.11181070e-02  8.90970630e+01]
 [ 1.69704925e-01  9.85473909e-01 -6.43529914e-03  1.08208699e+01]
 [ 3.17589482e-02  1.05776456e-03  9.99494998e-01  2.86288154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.66650248099998
Centerline is valid?  [True, True]
Translation: X:89.15, Y:10.83, Z:2.86
[[ 9.84102449e-01 -1.74854686e-01 -3.11160443e-02  8.91548184e+01]
 [ 1.74738205e-01  9.84593834e-01 -6.44525739e-03  1.08309362e+01]
 [ 3.17636488e-02  9.05631871e-04  9.99494998e-01  2.86473896e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.72650248099998
Centerline is valid?  [True, True]
Translation: X:89.21, Y:10.84, Z:2.87
[[ 9.82383161e-01 -1.84269489e-01 -3.11139921e-02  8.92129739e+01]
 [ 1.84157404e-01  9.82875568e-01 -6.45514877e-03  1.08408238e+01]
 [ 3.17706696e-02  6.11557425e-04  9.99494998e-01  2.86660768e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.78650248099999
Centerline is valid?  [True, True]
Translation: X:89.27, Y:10.85, Z:2.87
[[ 9.81174107e-01 -1.90602781e-01 -3.11119182e-02  8.92722998e+01]
 [ 1.90493559e-01  9.81667156e-01 -6.46512889e-03  1.08510319e+01]
 [ 3.17738198e-02  4.16797034e-04  9.99494998e-01  2.86851482e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.84650248099999
Centerline is valid?  [True, True]
Translation: X:89.33, Y:10.87, Z:2.87
[[ 9.80298298e-01 -1.95057175e-01 -3.11118146e-02  8.93290638e+01]
 [ 1.94950178e-01  9.80791835e-01 -6.46562745e-03  1.08684751e+01]
 [ 3.17753808e-02  2.72989785e-04  9.99494998e-01  2.87039430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.90650248099998
Centerline is valid?  [True, True]
Translation: X:89.39, Y:10.88, Z:2.87
[[ 9.80580229e-01 -1.93635219e-01 -3.11097482e-02  8.93867103e+01]
 [ 1.93527191e-01  9.81073541e-01 -6.47555476e-03  1.08784383e+01]
 [ 3.17748463e-02  3.29218778e-04  9.99494998e-01  2.87224761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.96650248099998
Centerline is valid?  [True, True]
Translation: X:89.44, Y:10.90, Z:2.87
[[ 9.80469081e-01 -1.94197350e-01 -3.11090096e-02  8.94419211e+01]
 [ 1.94089492e-01  9.80962431e-01 -6.47910112e-03  1.08955326e+01]
 [ 3.17749940e-02  3.14626437e-04  9.99494998e-01  2.87407487e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 90.02650248099998
Centerline is valid?  [True, True]
Translation: X:89.50, Y:10.91, Z:2.88
[[ 9.80966812e-01 -1.91667434e-01 -3.11080113e-02  8.94989842e+01]
 [ 1.91558152e-01  9.81459848e-01 -6.48389058e-03  1.09079817e+01]
 [ 3.17740148e-02  4.01488323e-04  9.99494998e-01  2.87592900e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.08650248099998
Centerline is valid?  [True, True]
Translation: X:89.56, Y:10.92, Z:2.88
[[ 9.81216018e-01 -1.90387660e-01 -3.11073011e-02  8.95563302e+01]
 [ 1.90277627e-01  9.81708887e-01 -6.48729628e-03  1.09226053e+01]
 [ 3.17734151e-02  4.46415575e-04  9.99494998e-01  2.87780682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.14650248099998
Centerline is valid?  [True, True]
Translation: X:89.61, Y:10.94, Z:2.88
[[ 9.82062359e-01 -1.85972807e-01 -3.11068739e-02  8.96145413e+01]
 [ 1.85860494e-01  9.82554714e-01 -6.48934432e-03  1.09368638e+01]
 [ 3.17710471e-02  5.91401860e-04  9.99494998e-01  2.87970995e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.20650248099999
Centerline is valid?  [True, True]
Translation: X:89.67, Y:10.95, Z:2.88
[[ 9.82875400e-01 -1.81626875e-01 -3.11066901e-02  8.96727834e+01]
 [ 1.81512357e-01  9.83367246e-01 -6.49022489e-03  1.09475570e+01]
 [ 3.17680995e-02  7.32833757e-04  9.99494998e-01  2.88159154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.26650248099997
Centerline is valid?  [True, True]
Translation: X:89.73, Y:10.96, Z:2.88
[[ 9.83224284e-01 -1.79728996e-01 -3.11045878e-02  8.97301502e+01]
 [ 1.79613210e-01  9.83715833e-01 -6.50028484e-03  1.09609853e+01]
 [ 3.17663652e-02  8.04443040e-04  9.99494998e-01  2.88345862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.32650248099998
Centerline is valid?  [True, True]
Translation: X:89.79, Y:10.97, Z:2.89
[[ 9.83363470e-01 -1.78965999e-01 -3.11039867e-02  8.97878555e+01]
 [ 1.78849741e-01  9.83854908e-01 -6.50315969e-03  1.09737301e+01]
 [ 3.17656544e-02  8.32029703e-04  9.99494998e-01  2.88533574e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.38650248099998
Centerline is valid?  [True, True]
Translation: X:89.85, Y:10.98, Z:2.89
[[ 9.83346491e-01 -1.79059323e-01 -3.11036443e-02  8.98472739e+01]
 [ 1.78943061e-01  9.83837928e-01 -6.50479712e-03  1.09847922e+01]
 [ 3.17656895e-02  8.30688124e-04  9.99494998e-01  2.88725591e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.44650248099998
Centerline is valid?  [True, True]
Translation: X:89.90, Y:10.99, Z:2.89
[[ 9.82843808e-01 -1.81798301e-01 -3.11034911e-02  8.99042601e+01]
 [ 1.81683384e-01  9.83335561e-01 -6.50552934e-03  1.09937975e+01]
 [ 3.17678631e-02  7.42931696e-04  9.99494998e-01  2.88908748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.50650248099998
Centerline is valid?  [True, True]
Translation: X:89.96, Y:11.01, Z:2.89
[[ 9.81799195e-01 -1.87357842e-01 -3.11027399e-02  8.99611874e+01]
 [ 1.87245597e-01  9.82291564e-01 -6.50911874e-03  1.10077948e+01]
 [ 3.17714935e-02  5.66796416e-04  9.99494998e-01  2.89094815e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.56650248099999
Centerline is valid?  [True, True]
Translation: X:90.02, Y:11.02, Z:2.89
[[ 9.80641760e-01 -1.93324819e-01 -3.11006735e-02  9.00202256e+01]
 [ 1.93215258e-01  9.81134734e-01 -6.51897736e-03  1.10165255e+01]
 [ 3.17742311e-02  3.83656782e-04  9.99494998e-01  2.89283673e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.62650248099997
Centerline is valid?  [True, True]
Translation: X:90.08, Y:11.03, Z:2.89
[[ 9.79472107e-01 -1.99166158e-01 -3.11003826e-02  9.00780311e+01]
 [ 1.99059493e-01  9.79965715e-01 -6.52036482e-03  1.10287284e+01]
 [ 3.17759447e-02  1.95689075e-04  9.99494998e-01  2.89471426e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.68650248099998
Centerline is valid?  [True, True]
Translation: X:90.13, Y:11.04, Z:2.90
[[ 9.79072854e-01 -2.01119721e-01 -3.10999212e-02  9.01344715e+01]
 [ 2.01013971e-01  9.79566659e-01 -6.52256470e-03  1.10397897e+01]
 [ 3.17762623e-02  1.34547375e-04  9.99494998e-01  2.89654140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.74650248099998
Centerline is valid?  [True, True]
Translation: X:90.19, Y:11.05, Z:2.90
[[ 9.79482015e-01 -1.99117613e-01 -3.10991650e-02  9.01942179e+01]
 [ 1.99010739e-01  9.79975579e-01 -6.52616834e-03  1.10488135e+01]
 [ 3.17758973e-02  2.03196717e-04  9.99494998e-01  2.89845733e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.80650248099998
Centerline is valid?  [True, True]
Translation: X:90.25, Y:11.06, Z:2.90
[[ 9.79684048e-01 -1.98121337e-01 -3.10982503e-02  9.02525871e+01]
 [ 1.98013823e-01  9.80177473e-01 -6.53052402e-03  1.10610282e+01]
 [ 3.17756406e-02  2.39966783e-04  9.99494998e-01  2.90035081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.86650248099998
Centerline is valid?  [True, True]
Translation: X:90.31, Y:11.08, Z:2.90
[[ 9.80194907e-01 -1.95578271e-01 -3.10979908e-02  9.03079410e+01]
 [ 1.95469437e-01  9.80688042e-01 -6.53175975e-03  1.10778700e+01]
 [ 3.17748979e-02  3.23690892e-04  9.99494998e-01  2.90218244e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.92650248099999
Centerline is valid?  [True, True]
Translation: X:90.37, Y:11.09, Z:2.90
[[ 9.81356531e-01 -1.89663703e-01 -3.10972551e-02  9.03656432e+01]
 [ 1.89551786e-01  9.81848976e-01 -6.53526023e-03  1.10895535e+01]
 [ 3.17723097e-02  5.18880056e-04  9.99494998e-01  2.90405219e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.98650248099997
Centerline is valid?  [True, True]
Translation: X:90.42, Y:11.11, Z:2.91
[[ 9.82651871e-01 -1.82834043e-01 -3.10968369e-02  9.04227606e+01]
 [ 1.82718641e-01  9.83143511e-01 -6.53724990e-03  1.11052997e+01]
 [ 3.17678852e-02  7.41869070e-04  9.99494998e-01  2.90593114e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.04650248099998
Centerline is valid?  [True, True]
Translation: X:90.48, Y:11.12, Z:2.91
[[ 9.83756936e-01 -1.76791985e-01 -3.10947898e-02  9.04814891e+01]
 [ 1.76673257e-01  9.84247782e-01 -6.54697218e-03  1.11187576e+01]
 [ 3.17624302e-02  9.47011485e-04  9.99494998e-01  2.90784103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.10650248099998
Centerline is valid?  [True, True]
Translation: X:90.54, Y:11.13, Z:2.91
[[ 9.84123344e-01 -1.74740867e-01 -3.10945873e-02  9.05386942e+01]
 [ 1.74621086e-01  9.84613935e-01 -6.54793375e-03  1.11343700e+01]
 [ 3.17603556e-02  1.01420384e-03  9.99494998e-01  2.90972245e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.16650248099998
Centerline is valid?  [True, True]
Translation: X:90.60, Y:11.15, Z:2.91
[[ 9.84082822e-01 -1.74969004e-01 -3.10941662e-02  9.05952999e+01]
 [ 1.74849274e-01  9.84573425e-01 -6.54993302e-03  1.11506778e+01]
 [ 3.17605250e-02  1.00888417e-03  9.99494998e-01  2.91158922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 91.22650248099998
Centerline is valid?  [True, True]
Translation: X:90.65, Y:11.16, Z:2.91
[[ 9.84094730e-01 -1.74902362e-01 -3.10922283e-02  9.06530712e+01]
 [ 1.74782309e-01  9.84585254e-01 -6.55911926e-03  1.11634576e+01]
 [ 3.17601550e-02  1.02042323e-03  9.99494998e-01  2.91346527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.28650248099999
Centerline is valid?  [True, True]
Translation: X:90.71, Y:11.18, Z:2.92
[[ 9.83780326e-01 -1.76662599e-01 -3.10901478e-02  9.07114486e+01]
 [ 1.76543112e-01  9.84270988e-01 -6.56896609e-03  1.11771419e+01]
 [ 3.17616211e-02  9.73668136e-04  9.99494998e-01  2.91536576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.34650248099997
Centerline is valid?  [True, True]
Translation: X:90.77, Y:11.19, Z:2.92
[[ 9.82812920e-01 -1.81967544e-01 -3.10898240e-02  9.07693406e+01]
 [ 1.81850658e-01  9.83304209e-01 -6.57049842e-03  1.11855177e+01]
 [ 3.17663722e-02  8.03865793e-04  9.99494998e-01  2.91722075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.40650248099998
Centerline is valid?  [True, True]
Translation: X:90.83, Y:11.20, Z:2.92
[[ 9.81989609e-01 -1.86359813e-01 -3.10874245e-02  9.08276561e+01]
 [ 1.86244767e-01  9.82481331e-01 -6.58183147e-03  1.11994933e+01]
 [ 3.17694031e-02  6.73419991e-04  9.99494998e-01  2.91912042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.46650248099998
Centerline is valid?  [True, True]
Translation: X:90.89, Y:11.21, Z:2.92
[[ 9.81070224e-01 -1.91140783e-01 -3.10872498e-02  9.08855491e+01]
 [ 1.91028106e-01  9.81562495e-01 -6.58265675e-03  1.12113519e+01]
 [ 3.17722926e-02  5.19510076e-04  9.99494998e-01  2.92099871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.52650248099998
Centerline is valid?  [True, True]
Translation: X:90.94, Y:11.22, Z:2.92
[[ 9.79808248e-01 -1.97508268e-01 -3.10850740e-02  9.09440281e+01]
 [ 1.97398465e-01  9.80301168e-01 -6.59291544e-03  1.12221216e+01]
 [ 3.17748896e-02  3.23647022e-04  9.99494998e-01  2.92288293e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.58650248099998
Centerline is valid?  [True, True]
Translation: X:91.00, Y:11.23, Z:2.92
[[ 9.79582754e-01 -1.98623949e-01 -3.10830406e-02  9.10011288e+01]
 [ 1.98514404e-01  9.80075731e-01 -6.60248802e-03  1.12327969e+01]
 [ 3.17751460e-02  2.97252113e-04  9.99494998e-01  2.92472399e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.64650248099998
Centerline is valid?  [True, True]
Translation: X:91.06, Y:11.24, Z:2.93
[[ 9.80157548e-01 -1.95767905e-01 -3.10822728e-02  9.10589954e+01]
 [ 1.95656809e-01  9.80650178e-01 -6.60610052e-03  1.12425060e+01]
 [ 3.17740989e-02  3.93560965e-04  9.99494998e-01  2.92658572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.70650248099999
Centerline is valid?  [True, True]
Translation: X:91.12, Y:11.25, Z:2.93
[[ 9.80257424e-01 -1.95267524e-01 -3.10801805e-02  9.11158478e+01]
 [ 1.95155865e-01  9.80749926e-01 -6.61593002e-03  1.12533921e+01]
 [ 3.17737610e-02  4.19835025e-04  9.99494998e-01  2.92842026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.76650248099997
Centerline is valid?  [True, True]
Translation: X:91.17, Y:11.26, Z:2.93
[[ 9.80311625e-01 -1.94995349e-01 -3.10794504e-02  9.11748826e+01]
 [ 1.94883445e-01  9.80804072e-01 -6.61935779e-03  1.12632688e+01]
 [ 3.17735955e-02  4.32163020e-04  9.99494998e-01  2.93031948e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.82650248099998
Centerline is valid?  [True, True]
Translation: X:91.23, Y:11.27, Z:2.93
[[ 9.81588614e-01 -1.88461896e-01 -3.10790510e-02  9.12313945e+01]
 [ 1.88346655e-01  9.82080290e-01 -6.62123247e-03  1.12746324e+01]
 [ 3.17699735e-02  6.45691105e-04  9.99494998e-01  2.93215095e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.88650248099998
Centerline is valid?  [True, True]
Translation: X:91.29, Y:11.28, Z:2.93
[[ 9.81512562e-01 -1.88857696e-01 -3.10783049e-02  9.12896643e+01]
 [ 1.88742542e-01  9.82004260e-01 -6.62473267e-03  1.12839273e+01]
 [ 3.17701596e-02  6.36460066e-04  9.99494998e-01  2.93402245e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.94650248099998
Centerline is valid?  [True, True]
Translation: X:91.35, Y:11.30, Z:2.94
[[ 9.81329381e-01 -1.89807576e-01 -3.10761945e-02  9.13454707e+01]
 [ 1.89692586e-01  9.81821116e-01 -6.63461772e-03  1.12969330e+01]
 [ 3.17705647e-02  6.15821607e-04  9.99494998e-01  2.93583840e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.00650248099998
Centerline is valid?  [True, True]
Translation: X:91.41, Y:11.31, Z:2.94
[[ 9.82065886e-01 -1.85959581e-01 -3.10745732e-02  9.14051483e+01]
 [ 1.85842424e-01  9.82557110e-01 -6.64220292e-03  1.13052207e+01]
 [ 3.17677241e-02  7.48106903e-04  9.99494999e-01  2.93774465e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.06650248099999
Centerline is valid?  [True, True]
Translation: X:91.46, Y:11.32, Z:2.94
[[ 9.81679751e-01 -1.87987378e-01 -3.10743134e-02  9.14629694e+01]
 [ 1.87871198e-01  9.82171206e-01 -6.64341796e-03  1.13180824e+01]
 [ 3.17691746e-02  6.83740403e-04  9.99494999e-01  2.93962711e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.12650248099997
Centerline is valid?  [True, True]
Translation: X:91.52, Y:11.33, Z:2.94
[[ 9.81755497e-01 -1.87591739e-01 -3.10722367e-02  9.15203630e+01]
 [ 1.87475053e-01  9.82246833e-01 -6.65311665e-03  1.13299224e+01]
 [ 3.17686758e-02  7.06464606e-04  9.99494999e-01  2.94148473e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.18650248099998
Centerline is valid?  [True, True]
Translation: X:91.58, Y:11.34, Z:2.94
[[ 9.81955627e-01 -1.86541657e-01 -3.10701902e-02  9.15787753e+01]
 [ 1.86424144e-01  9.82446766e-01 -6.66266040e-03  1.13398170e+01]
 [ 3.17676716e-02  7.50203250e-04  9.99494999e-01  2.94336113e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.24650248099998
Centerline is valid?  [True, True]
Translation: X:91.64, Y:11.35, Z:2.95
[[ 9.82988576e-01 -1.81019964e-01 -3.10681773e-02  9.16372321e+01]
 [ 1.80899397e-01  9.83478974e-01 -6.67203339e-03  1.13522672e+01]
 [ 3.17626704e-02  9.38318066e-04  9.99494999e-01  2.94525601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.30650248099998
Centerline is valid?  [True, True]
Translation: X:91.69, Y:11.37, Z:2.95
[[ 9.83516975e-01 -1.78126773e-01 -3.10678597e-02  9.16945768e+01]
 [ 1.78004716e-01  9.84007005e-01 -6.67351180e-03  1.13675409e+01]
 [ 3.17597227e-02  1.03328657e-03  9.99494999e-01  2.94713963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.36650248099998
Centerline is valid?  [True, True]
Translation: X:91.75, Y:11.38, Z:2.95
[[ 9.83560970e-01 -1.77883807e-01 -3.10671905e-02  9.17516291e+01]
 [ 1.77761531e-01  9.84050944e-01 -6.67662588e-03  1.13789098e+01]
 [ 3.17593618e-02  1.04431727e-03  9.99494999e-01  2.94898718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 92.42650248099999
Centerline is valid?  [True, True]
Translation: X:91.81, Y:11.39, Z:2.95
[[ 9.83170445e-01 -1.80029843e-01 -3.10665835e-02  9.18084132e+01]
 [ 1.79908548e-01  9.83660663e-01 -6.67944899e-03  1.13942412e+01]
 [ 3.17614763e-02  9.77892904e-04  9.99494999e-01  2.95085302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.48650248099997
Centerline is valid?  [True, True]
Translation: X:91.87, Y:11.41, Z:2.95
[[ 9.82424058e-01 -1.84059687e-01 -3.10644777e-02  9.18666060e+01]
 [ 1.83940094e-01  9.82914694e-01 -6.68922851e-03  1.14054098e+01]
 [ 3.17649489e-02  8.57656065e-04  9.99494999e-01  2.95273093e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.54650248099998
Centerline is valid?  [True, True]
Translation: X:91.93, Y:11.42, Z:2.95
[[ 9.81702621e-01 -1.87869584e-01 -3.10641829e-02  9.19255672e+01]
 [ 1.87751852e-01  9.82193707e-01 -6.69059715e-03  1.14152953e+01]
 [ 3.17680046e-02  7.35818879e-04  9.99494999e-01  2.95462885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.60650248099998
Centerline is valid?  [True, True]
Translation: X:91.98, Y:11.43, Z:2.96
[[ 9.80941497e-01 -1.91804105e-01 -3.10638792e-02  9.19825780e+01]
 [ 1.91688299e-01  9.81433041e-01 -6.69200679e-03  1.14293586e+01]
 [ 3.17706718e-02  6.09885008e-04  9.99494999e-01  2.95649408e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.66650248099998
Centerline is valid?  [True, True]
Translation: X:92.04, Y:11.44, Z:2.96
[[ 9.80509302e-01 -1.94001493e-01 -3.10632971e-02  9.20417055e+01]
 [ 1.93886703e-01  9.81001084e-01 -6.69470778e-03  1.14382466e+01]
 [ 3.17719114e-02  5.41463013e-04  9.99494999e-01  2.95838972e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.72650248099998
Centerline is valid?  [True, True]
Translation: X:92.10, Y:11.45, Z:2.96
[[ 9.80529827e-01 -1.93897775e-01 -3.10630089e-02  9.21006340e+01]
 [ 1.93782890e-01  9.81021587e-01 -6.69604483e-03  1.14482541e+01]
 [ 3.17718305e-02  5.46192066e-04  9.99494999e-01  2.96028742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.78650248099999
Centerline is valid?  [True, True]
Translation: X:92.16, Y:11.46, Z:2.96
[[ 9.79965956e-01 -1.96727818e-01 -3.10627039e-02  9.21573858e+01]
 [ 1.96614308e-01  9.80458035e-01 -6.69745935e-03  1.14603267e+01]
 [ 3.17732542e-02  4.55910108e-04  9.99494999e-01  2.96213127e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.84650248099997
Centerline is valid?  [True, True]
Translation: X:92.22, Y:11.47, Z:2.96
[[ 9.80588515e-01 -1.93600991e-01 -3.10615753e-02  9.22157225e+01]
 [ 1.93485747e-01  9.81080190e-01 -6.70268928e-03  1.14717858e+01]
 [ 3.17715435e-02  5.62608019e-04  9.99494999e-01  2.96401808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.90650248099998
Centerline is valid?  [True, True]
Translation: X:92.27, Y:11.48, Z:2.97
[[ 9.81132967e-01 -1.90822988e-01 -3.10594327e-02  9.22732798e+01]
 [ 1.90706038e-01  9.81624240e-01 -6.71260339e-03  1.14802624e+01]
 [ 3.17696110e-02  6.62735128e-04  9.99494999e-01  2.96585795e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.96650248099998
Centerline is valid?  [True, True]
Translation: X:92.33, Y:11.50, Z:2.97
[[ 9.80749067e-01 -1.92786478e-01 -3.10586849e-02  9.23308135e+01]
 [ 1.92670402e-01  9.81240547e-01 -6.71606159e-03  1.14951310e+01]
 [ 3.17708068e-02  6.02681816e-04  9.99494999e-01  2.96774369e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.02650248099998
Centerline is valid?  [True, True]
Translation: X:92.39, Y:11.51, Z:2.97
[[ 9.81229493e-01 -1.90326494e-01 -3.10565330e-02  9.23879985e+01]
 [ 1.90208871e-01  9.81720605e-01 -6.72599792e-03  1.15065650e+01]
 [ 3.17689739e-02  6.92519444e-04  9.99494999e-01  2.96959180e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.08650248099998
Centerline is valid?  [True, True]
Translation: X:92.45, Y:11.52, Z:2.97
[[ 9.81609053e-01 -1.88359245e-01 -3.10557802e-02  9.24457740e+01]
 [ 1.88240529e-01  9.82099902e-01 -6.72947169e-03  1.15193145e+01]
 [ 3.17674369e-02  7.59753847e-04  9.99494999e-01  2.97147082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.14650248099998
Centerline is valid?  [True, True]
Translation: X:92.50, Y:11.53, Z:2.97
[[ 9.81545316e-01 -1.88691441e-01 -3.10536957e-02  9.25029820e+01]
 [ 1.88572587e-01  9.82036132e-01 -6.73907741e-03  1.15308236e+01]
 [ 3.17674574e-02  7.58834143e-04  9.99494999e-01  2.97332032e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.20650248099999
Centerline is valid?  [True, True]
Translation: X:92.56, Y:11.54, Z:2.98
[[ 9.81319759e-01 -1.89861116e-01 -3.10529623e-02  9.25620511e+01]
 [ 1.89742740e-01  9.81810690e-01 -6.74245498e-03  1.15399120e+01]
 [ 3.17682604e-02  7.24430153e-04  9.99494999e-01  2.97521488e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.26650248099997
Centerline is valid?  [True, True]
Translation: X:92.62, Y:11.55, Z:2.98
[[ 9.80866068e-01 -1.92191280e-01 -3.10526605e-02  9.26196874e+01]
 [ 1.92074027e-01  9.81357269e-01 -6.74384458e-03  1.15528599e+01]
 [ 3.17698622e-02  6.50398773e-04  9.99494999e-01  2.97709210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.32650248099998
Centerline is valid?  [True, True]
Translation: X:92.68, Y:11.57, Z:2.98
[[ 9.81039980e-01 -1.91301893e-01 -3.10506524e-02  9.26772782e+01]
 [ 1.91183903e-01  9.81531004e-01 -6.75307806e-03  1.15651535e+01]
 [ 3.17690546e-02  6.88654664e-04  9.99494999e-01  2.97895895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.38650248099998
Centerline is valid?  [True, True]
Translation: X:92.74, Y:11.57, Z:2.98
[[ 9.81067287e-01 -1.91162141e-01 -3.10485786e-02  9.27356085e+01]
 [ 1.91043779e-01  9.81558221e-01 -6.76259921e-03  1.15741390e+01]
 [ 3.17687405e-02  7.02927092e-04  9.99494999e-01  2.98082622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.44650248099998
Centerline is valid?  [True, True]
Translation: X:92.79, Y:11.59, Z:2.98
[[ 9.81517097e-01 -1.88839376e-01 -3.10464003e-02  9.27942178e+01]
 [ 1.88719537e-01  9.82007672e-01 -6.77258458e-03  1.15873783e+01]
 [ 3.17667340e-02  7.88345263e-04  9.99494999e-01  2.98273063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.50650248099998
Centerline is valid?  [True, True]
Translation: X:92.85, Y:11.60, Z:2.98
[[ 9.80789901e-01 -1.92580639e-01 -3.10462176e-02  9.28509678e+01]
 [ 1.92462644e-01  9.81280924e-01 -6.77342237e-03  1.16028911e+01]
 [ 3.17694910e-02  6.68067127e-04  9.99494999e-01  2.98459803e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.56650248099999
Centerline is valid?  [True, True]
Translation: X:92.91, Y:11.61, Z:2.99
[[ 9.81212477e-01 -1.90415934e-01 -3.10458934e-02  9.29092524e+01]
 [ 1.90296809e-01  9.81703227e-01 -6.77490760e-03  1.16139440e+01]
 [ 3.17679041e-02  7.39689394e-04  9.99494999e-01  2.98648250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 93.62650248099997
Centerline is valid?  [True, True]
Translation: X:92.97, Y:11.63, Z:2.99
[[ 9.81481434e-01 -1.89024801e-01 -3.10454334e-02  9.29654190e+01]
 [ 1.88904914e-01  9.81971998e-01 -6.77701517e-03  1.16282793e+01]
 [ 3.17667702e-02  7.86879640e-04  9.99494999e-01  2.98832307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.68650248099998
Centerline is valid?  [True, True]
Translation: X:93.02, Y:11.64, Z:2.99
[[ 9.82722736e-01 -1.82461932e-01 -3.10430041e-02  9.30236499e+01]
 [ 1.82338419e-01  9.83212399e-01 -6.78812458e-03  1.16430550e+01]
 [ 3.17604409e-02  1.01051207e-03  9.99494999e-01  2.99022555e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.74650248099998
Centerline is valid?  [True, True]
Translation: X:93.08, Y:11.65, Z:2.99
[[ 9.82143956e-01 -1.85552140e-01 -3.10427704e-02  9.30810636e+01]
 [ 1.85430134e-01  9.82633997e-01 -6.78919313e-03  1.16548327e+01]
 [ 3.17634309e-02  9.11699915e-04  9.99494999e-01  2.99208811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.80650248099998
Centerline is valid?  [True, True]
Translation: X:93.14, Y:11.67, Z:2.99
[[ 9.82543195e-01 -1.83426690e-01 -3.10406158e-02  9.31373554e+01]
 [ 1.83303314e-01  9.83032893e-01 -6.79902990e-03  1.16684780e+01]
 [ 3.17610699e-02  9.90492821e-04  9.99494999e-01  2.99392345e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.86650248099998
Centerline is valid?  [True, True]
Translation: X:93.20, Y:11.68, Z:3.00
[[ 9.83771133e-01 -1.76722623e-01 -3.10398609e-02  9.31967611e+01]
 [ 1.76595802e-01  9.84259950e-01 -6.80247428e-03  1.16777560e+01]
 [ 3.17534431e-02  1.21056870e-03  9.99494999e-01  2.99582948e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.92650248099999
Centerline is valid?  [True, True]
Translation: X:93.25, Y:11.69, Z:3.00
[[ 9.84269666e-01 -1.73924584e-01 -3.10397221e-02  9.32537443e+01]
 [ 1.73796354e-01  9.84758115e-01 -6.80310767e-03  1.16915965e+01]
 [ 3.17498459e-02  1.30150198e-03  9.99494999e-01  2.99769295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.98650248099997
Centerline is valid?  [True, True]
Translation: X:93.31, Y:11.71, Z:3.00
[[ 9.84175164e-01 -1.74458974e-01 -3.10372709e-02  9.33104110e+01]
 [ 1.74330658e-01  9.84663591e-01 -6.81427223e-03  1.17050233e+01]
 [ 3.17500816e-02  1.29568964e-03  9.99494999e-01  2.99953768e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.04650248099998
Centerline is valid?  [True, True]
Translation: X:93.37, Y:11.72, Z:3.00
[[ 9.83295853e-01 -1.79348887e-01 -3.10361433e-02  9.33678285e+01]
 [ 1.79222838e-01  9.83784870e-01 -6.81940412e-03  1.17163846e+01]
 [ 3.17559408e-02  1.14310610e-03  9.99494999e-01  3.00139513e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.10650248099998
Centerline is valid?  [True, True]
Translation: X:93.43, Y:11.73, Z:3.00
[[ 9.82109788e-01 -1.85734108e-01 -3.10355501e-02  9.34266574e+01]
 [ 1.85611154e-01  9.82599592e-01 -6.82210303e-03  1.17296019e+01]
 [ 3.17626161e-02  9.39509885e-04  9.99494999e-01  3.00331049e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.16650248099998
Centerline is valid?  [True, True]
Translation: X:93.49, Y:11.74, Z:3.01
[[ 9.80834079e-01 -1.92357252e-01 -3.10354132e-02  9.34853249e+01]
 [ 1.92237586e-01  9.81324697e-01 -6.82272561e-03  1.17412421e+01]
 [ 3.17682182e-02  7.25788875e-04  9.99494999e-01  3.00521128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.22650248099998
Centerline is valid?  [True, True]
Translation: X:93.54, Y:11.75, Z:3.01
[[ 9.80449956e-01 -1.94305703e-01 -3.10351150e-02  9.35437836e+01]
 [ 1.94186969e-01  9.80940800e-01 -6.82408173e-03  1.17545408e+01]
 [ 3.17695685e-02  6.64055713e-04  9.99494999e-01  3.00711647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.28650248099999
Centerline is valid?  [True, True]
Translation: X:93.60, Y:11.77, Z:3.01
[[ 9.79728234e-01 -1.97912674e-01 -3.10348357e-02  9.36015850e+01]
 [ 1.97795708e-01  9.80219502e-01 -6.82535192e-03  1.17663883e+01]
 [ 3.17717748e-02  5.48432703e-04  9.99494999e-01  3.00899140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.34650248099997
Centerline is valid?  [True, True]
Translation: X:93.66, Y:11.78, Z:3.01
[[ 9.79328798e-01 -1.99880143e-01 -3.10327760e-02  9.36602886e+01]
 [ 1.99763867e-01  9.79820231e-01 -6.83470399e-03  1.17796093e+01]
 [ 3.17726633e-02  4.94195107e-04  9.99494999e-01  3.01089901e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.40650248099998
Centerline is valid?  [True, True]
Translation: X:93.72, Y:11.79, Z:3.01
[[ 9.78808558e-01 -2.02412592e-01 -3.10314185e-02  9.37184395e+01]
 [ 2.02297392e-01  9.79300244e-01 -6.84086166e-03  1.17917473e+01]
 [ 3.17737522e-02  4.18318903e-04  9.99494999e-01  3.01278391e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.46650248099998
Centerline is valid?  [True, True]
Translation: X:93.78, Y:11.81, Z:3.01
[[ 9.79412703e-01 -1.99469133e-01 -3.10293730e-02  9.37752788e+01]
 [ 1.99352163e-01  9.79903970e-01 -6.85012713e-03  1.18055424e+01]
 [ 3.17721947e-02  5.23328899e-04  9.99494999e-01  3.01463762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.52650248099998
Centerline is valid?  [True, True]
Translation: X:93.83, Y:11.82, Z:3.02
[[ 9.80722697e-01 -1.92925380e-01 -3.10288622e-02  9.38325418e+01]
 [ 1.92805059e-01  9.81213154e-01 -6.85244002e-03  1.18151564e+01]
 [ 3.17679374e-02  7.37821846e-04  9.99494999e-01  3.01647989e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.58650248099998
Centerline is valid?  [True, True]
Translation: X:93.89, Y:11.83, Z:3.02
[[ 9.80837714e-01 -1.92339893e-01 -3.10281099e-02  9.38900788e+01]
 [ 1.92219172e-01  9.81328073e-01 -6.85584491e-03  1.18283728e+01]
 [ 3.17674078e-02  7.60273664e-04  9.99494999e-01  3.01835472e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.64650248099998
Centerline is valid?  [True, True]
Translation: X:93.95, Y:11.84, Z:3.02
[[ 9.82015895e-01 -1.86231217e-01 -3.10276624e-02  9.39460145e+01]
 [ 1.86107382e-01  9.82505477e-01 -6.85786948e-03  1.18436694e+01]
 [ 3.17619977e-02  9.60059812e-04  9.99494999e-01  3.02019492e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.70650248099999
Centerline is valid?  [True, True]
Translation: X:94.00, Y:11.85, Z:3.02
[[ 9.83337816e-01 -1.79120571e-01 -3.10251764e-02  9.40037619e+01]
 [ 1.78992843e-01  9.83826396e-01 -6.86909811e-03  1.18549615e+01]
 [ 3.17537842e-02  1.20135942e-03  9.99494999e-01  3.02205850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.76650248099997
Centerline is valid?  [True, True]
Translation: X:94.06, Y:11.87, Z:3.02
[[ 9.83185064e-01 -1.79957193e-01 -3.10247980e-02  9.40611999e+01]
 [ 1.79829826e-01  9.83673739e-01 -6.87080667e-03  1.18695430e+01]
 [ 3.17547301e-02  1.17609047e-03  9.99494999e-01  3.02394065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 94.82650248099998
Centerline is valid?  [True, True]
Translation: X:94.12, Y:11.88, Z:3.03
[[ 9.83500826e-01 -1.78223781e-01 -3.10227062e-02  9.41191171e+01]
 [ 1.78095256e-01  9.83989198e-01 -6.88023840e-03  1.18797918e+01]
 [ 3.17522299e-02  1.24172334e-03  9.99494999e-01  3.02580335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.88650248099998
Centerline is valid?  [True, True]
Translation: X:94.18, Y:11.89, Z:3.03
[[ 9.83031348e-01 -1.80795710e-01 -3.10206277e-02  9.41774530e+01]
 [ 1.80668168e-01  9.83519978e-01 -6.88959705e-03  1.18916429e+01]
 [ 3.17550166e-02  1.16824989e-03  9.99495000e-01  3.02769009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.94650248099998
Centerline is valid?  [True, True]
Translation: X:94.23, Y:11.90, Z:3.03
[[ 9.82639879e-01 -1.82911750e-01 -3.10187055e-02  9.42345144e+01]
 [ 1.82784988e-01  9.83128711e-01 -6.89824052e-03  1.19037189e+01]
 [ 3.17571492e-02  1.10873252e-03  9.99495000e-01  3.02953922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.00650248099998
Centerline is valid?  [True, True]
Translation: X:94.29, Y:11.91, Z:3.03
[[ 9.81200330e-01 -1.90483039e-01 -3.10181249e-02  9.42940372e+01]
 [ 1.90359968e-01  9.81690104e-01 -6.90084989e-03  1.19108548e+01]
 [ 3.17646812e-02  8.66506915e-04  9.99495000e-01  3.03143417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.06650248099999
Centerline is valid?  [True, True]
Translation: X:94.35, Y:11.92, Z:3.03
[[ 9.80444720e-01 -1.94334867e-01 -3.10178991e-02  9.43507446e+01]
 [ 1.94213688e-01  9.80934966e-01 -6.90186500e-03  1.19237784e+01]
 [ 3.17678148e-02  7.42796537e-04  9.99495000e-01  3.03328264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.12650248099997
Centerline is valid?  [True, True]
Translation: X:94.41, Y:11.93, Z:3.04
[[ 9.79657205e-01 -1.98266734e-01 -3.10171354e-02  9.44099485e+01]
 [ 1.98147414e-01  9.80147907e-01 -6.90529524e-03  1.19347471e+01]
 [ 3.17704707e-02  6.18857060e-04  9.99495000e-01  3.03519365e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.18650248099998
Centerline is valid?  [True, True]
Translation: X:94.47, Y:11.94, Z:3.04
[[ 9.79577814e-01 -1.98658780e-01 -3.10160559e-02  9.44684537e+01]
 [ 1.98539503e-01  9.80068526e-01 -6.91014056e-03  1.19448169e+01]
 [ 3.17706203e-02  6.11108069e-04  9.99495000e-01  3.03707589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.24650248099998
Centerline is valid?  [True, True]
Translation: X:94.52, Y:11.96, Z:3.04
[[ 9.78256876e-01 -2.05064920e-01 -3.10139088e-02  9.45242932e+01]
 [ 2.04948552e-01  9.78748286e-01 -6.91976376e-03  1.19647728e+01]
 [ 3.17738109e-02  4.13050790e-04  9.99495000e-01  3.03894096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.30650248099998
Centerline is valid?  [True, True]
Translation: X:94.58, Y:11.97, Z:3.04
[[ 9.78336990e-01 -2.04682460e-01 -3.10133088e-02  9.45810195e+01]
 [ 2.04565815e-01  9.78828334e-01 -6.92245181e-03  1.19726981e+01]
 [ 3.17736098e-02  4.28227883e-04  9.99495000e-01  3.04075442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.36650248099998
Centerline is valid?  [True, True]
Translation: X:94.64, Y:11.99, Z:3.04
[[ 9.78177966e-01 -2.05441246e-01 -3.10122740e-02  9.46376593e+01]
 [ 2.05324835e-01  9.78669366e-01 -6.92708447e-03  1.19912530e+01]
 [ 3.17738714e-02  4.08331349e-04  9.99495000e-01  3.04263766e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.42650248099999
Centerline is valid?  [True, True]
Translation: X:94.70, Y:12.01, Z:3.04
[[ 9.78914443e-01 -2.01903156e-01 -3.10101319e-02  9.46951050e+01]
 [ 2.01784665e-01  9.79405346e-01 -6.93666055e-03  1.20055967e+01]
 [ 3.17720227e-02  5.33028111e-04  9.99495000e-01  3.04451384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.48650248099997
Centerline is valid?  [True, True]
Translation: X:94.75, Y:12.02, Z:3.05
[[ 9.79561358e-01 -1.98741160e-01 -3.10080084e-02  9.47515744e+01]
 [ 1.98620785e-01  9.80051802e-01 -6.94614019e-03  1.20218776e+01]
 [ 3.17699385e-02  6.45335538e-04  9.99495000e-01  3.04637328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.54650248099998
Centerline is valid?  [True, True]
Translation: X:94.81, Y:12.04, Z:3.05
[[ 9.79506814e-01 -1.99009885e-01 -3.10075258e-02  9.48088776e+01]
 [ 1.98889577e-01  9.79997274e-01 -6.94829407e-03  1.20374917e+01]
 [ 3.17700699e-02  6.38827710e-04  9.99495000e-01  3.04825829e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.60650248099998
Centerline is valid?  [True, True]
Translation: X:94.87, Y:12.05, Z:3.05
[[ 9.78702125e-01 -2.02930298e-01 -3.10071673e-02  9.48666120e+01]
 [ 2.02811904e-01  9.79193051e-01 -6.94989353e-03  1.20509047e+01]
 [ 3.17723467e-02  5.13252945e-04  9.99495000e-01  3.05014170e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.66650248099998
Centerline is valid?  [True, True]
Translation: X:94.92, Y:12.06, Z:3.05
[[ 9.76924179e-01 -2.11323746e-01 -3.10068186e-02  9.49247237e+01]
 [ 2.11209520e-01  9.77416091e-01 -6.95144864e-03  1.20644573e+01]
 [ 3.17755696e-02  2.42102975e-04  9.99495000e-01  3.05203782e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.72650248099998
Centerline is valid?  [True, True]
Translation: X:94.98, Y:12.08, Z:3.05
[[ 9.75553421e-01 -2.17564050e-01 -3.10065549e-02  9.49822414e+01]
 [ 2.17452934e-01  9.76046045e-01 -6.95262460e-03  1.20819838e+01]
 [ 3.17764665e-02  4.01903646e-05  9.99495000e-01  3.05394338e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.78650248099999
Centerline is valid?  [True, True]
Translation: X:95.04, Y:12.09, Z:3.06
[[ 9.74663806e-01 -2.21515410e-01 -3.10062744e-02  9.50396361e+01]
 [ 2.21406251e-01  9.75156867e-01 -6.95387559e-03  1.20949695e+01]
 [ 3.17763720e-02 -8.72921173e-05  9.99495000e-01  3.05581350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.84650248099997
Centerline is valid?  [True, True]
Translation: X:95.10, Y:12.11, Z:3.06
[[ 9.75875689e-01 -2.16114292e-01 -3.10040714e-02  9.50961954e+01]
 [ 2.16002093e-01  9.76368067e-01 -6.96368383e-03  1.21135285e+01]
 [ 3.17763369e-02  9.87454455e-05  9.99495000e-01  3.05769158e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.90650248099998
Centerline is valid?  [True, True]
Translation: X:95.15, Y:12.13, Z:3.06
[[ 9.76180225e-01 -2.14734842e-01 -3.10018773e-02  9.51528676e+01]
 [ 2.14621637e-01  9.76672373e-01 -6.97343809e-03  1.21310297e+01]
 [ 3.17761172e-02  1.53658699e-04  9.99495000e-01  3.05956592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.96650248099998
Centerline is valid?  [True, True]
Translation: X:95.21, Y:12.15, Z:3.06
[[ 9.77863095e-01 -2.06936414e-01 -3.10014142e-02  9.52084701e+01]
 [ 2.06819220e-01  9.78354308e-01 -6.97549643e-03  1.21467404e+01]
 [ 3.17738513e-02  4.09392247e-04  9.99495000e-01  3.06139902e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 96.02650248099998
Centerline is valid?  [True, True]
Translation: X:95.26, Y:12.17, Z:3.06
[[ 9.78597054e-01 -2.03437429e-01 -3.10002915e-02  9.52640724e+01]
 [ 2.03318320e-01  9.79087807e-01 -6.98048218e-03  1.21653694e+01]
 [ 3.17720988e-02  5.28152107e-04  9.99495000e-01  3.06325087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.08650248099998
Centerline is valid?  [True, True]
Translation: X:95.32, Y:12.18, Z:3.07
[[ 9.79883053e-01 -1.97150275e-01 -3.09995520e-02  9.53209961e+01]
 [ 1.97027915e-01  9.80373004e-01 -6.98376462e-03  1.21791402e+01]
 [ 3.17679751e-02  7.35495513e-04  9.99495000e-01  3.06511075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.14650248099998
Centerline is valid?  [True, True]
Translation: X:95.38, Y:12.19, Z:3.07
[[ 9.80322320e-01 -1.94954644e-01 -3.09973522e-02  9.53767137e+01]
 [ 1.94830877e-01  9.80811919e-01 -6.99351469e-03  1.21945489e+01]
 [ 3.17659907e-02  8.16657220e-04  9.99495000e-01  3.06694108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.20650248099997
Centerline is valid?  [True, True]
Translation: X:95.43, Y:12.21, Z:3.07
[[ 9.79412679e-01 -1.99474347e-01 -3.09965861e-02  9.54343426e+01]
 [ 1.99352733e-01  9.79902817e-01 -6.99690869e-03  1.22090010e+01]
 [ 3.17693458e-02  6.73606940e-04  9.99495000e-01  3.06882757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.26650248099997
Centerline is valid?  [True, True]
Translation: X:95.49, Y:12.22, Z:3.07
[[ 9.78968779e-01 -2.01641940e-01 -3.09944660e-02  9.54923378e+01]
 [ 2.01521115e-01  9.79459112e-01 -7.00628775e-03  1.22186983e+01]
 [ 3.17705736e-02  6.12897640e-04  9.99495000e-01  3.07068877e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.32650248099998
Centerline is valid?  [True, True]
Translation: X:95.55, Y:12.24, Z:3.07
[[ 9.77133442e-01 -2.10355929e-01 -3.09938694e-02  9.55491720e+01]
 [ 2.10239393e-01  9.77624812e-01 -7.00892578e-03  1.22371330e+01]
 [ 3.17747448e-02  3.32523480e-04  9.99495000e-01  3.07257897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.38650248099998
Centerline is valid?  [True, True]
Translation: X:95.61, Y:12.25, Z:3.07
[[ 9.77386266e-01 -2.09178127e-01 -3.09935156e-02  9.56076023e+01]
 [ 2.09060949e-01  9.77877483e-01 -7.01048987e-03  1.22506037e+01]
 [ 3.17743022e-02  3.72422737e-04  9.99495000e-01  3.07448447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.44650248099998
Centerline is valid?  [True, True]
Translation: X:95.66, Y:12.27, Z:3.08
[[ 9.77174115e-01 -2.10166985e-01 -3.09933325e-02  9.56642627e+01]
 [ 2.10050279e-01  9.77665445e-01 -7.01129944e-03  1.22670203e+01]
 [ 3.17746539e-02  3.41102192e-04  9.99495000e-01  3.07635616e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.50650248099998
Centerline is valid?  [True, True]
Translation: X:95.72, Y:12.28, Z:3.08
[[ 9.77919860e-01 -2.06669298e-01 -3.09927256e-02  9.57216905e+01]
 [ 2.06550749e-01  9.78410748e-01 -7.01398094e-03  1.22802760e+01]
 [ 3.17731904e-02  4.57540552e-04  9.99495000e-01  3.07822845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.56650248099999
Centerline is valid?  [True, True]
Translation: X:95.78, Y:12.30, Z:3.08
[[ 9.77940023e-01 -2.06574191e-01 -3.09905555e-02  9.57777380e+01]
 [ 2.06455291e-01  9.78430827e-01 -7.02355632e-03  1.22973734e+01]
 [ 3.17730003e-02  4.70452667e-04  9.99495000e-01  3.08008115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.62650248099997
Centerline is valid?  [True, True]
Translation: X:95.84, Y:12.31, Z:3.08
[[ 9.79851042e-01 -1.97310796e-01 -3.09900802e-02  9.58360947e+01]
 [ 1.97187191e-01  9.80340681e-01 -7.02565285e-03  1.23088434e+01]
 [ 3.17670735e-02  7.73246391e-04  9.99495000e-01  3.08197003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.68650248099998
Centerline is valid?  [True, True]
Translation: X:95.89, Y:12.32, Z:3.08
[[ 9.81299273e-01 -1.89977294e-01 -3.09897631e-02  9.58941154e+01]
 [ 1.89849986e-01  9.81787963e-01 -7.02705132e-03  1.23240991e+01]
 [ 3.17603566e-02  1.01223425e-03  9.99495000e-01  3.08387547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.74650248099998
Centerline is valid?  [True, True]
Translation: X:95.95, Y:12.34, Z:3.09
[[ 9.83410706e-01 -1.78726147e-01 -3.09894872e-02  9.59528707e+01]
 [ 1.78593213e-01  9.83897895e-01 -7.02826770e-03  1.23361940e+01]
 [ 3.17466265e-02  1.37716162e-03  9.99495000e-01  3.08578158e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.80650248099998
Centerline is valid?  [True, True]
Translation: X:96.01, Y:12.35, Z:3.09
[[ 9.84238433e-01 -1.74110233e-01 -3.09892600e-02  9.60114583e+01]
 [ 1.73974983e-01  9.84724984e-01 -7.02926957e-03  1.23463214e+01]
 [ 3.17397663e-02  1.52712130e-03  9.99495000e-01  3.08766876e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.86650248099998
Centerline is valid?  [True, True]
Translation: X:96.07, Y:12.36, Z:3.09
[[ 9.84447788e-01 -1.72922647e-01 -3.09888852e-02  9.60691408e+01]
 [ 1.72786758e-01  9.84934161e-01 -7.03092124e-03  1.23585343e+01]
 [ 3.17378172e-02  1.56710584e-03  9.99495000e-01  3.08954218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.92650248099999
Centerline is valid?  [True, True]
Translation: X:96.13, Y:12.37, Z:3.09
[[ 9.84390136e-01 -1.73250645e-01 -3.09882787e-02  9.61276838e+01]
 [ 1.73114834e-01  9.84876532e-01 -7.03359352e-03  1.23688559e+01]
 [ 3.17382031e-02  1.55926937e-03  9.99495000e-01  3.09142841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.98650248099997
Centerline is valid?  [True, True]
Translation: X:96.18, Y:12.38, Z:3.09
[[ 9.84203101e-01 -1.74310365e-01 -3.09863296e-02  9.61848581e+01]
 [ 1.74174809e-01  9.84689567e-01 -7.04216966e-03  1.23807199e+01]
 [ 3.17394387e-02  1.53388716e-03  9.99495000e-01  3.09327976e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.04650248099998
Centerline is valid?  [True, True]
Translation: X:96.24, Y:12.39, Z:3.10
[[ 9.83617377e-01 -1.77585899e-01 -3.09855469e-02  9.62430983e+01]
 [ 1.77451855e-01  9.84104262e-01 -7.04561205e-03  1.23910049e+01]
 [ 3.17442101e-02  1.43174366e-03  9.99495000e-01  3.09515587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.10650248099998
Centerline is valid?  [True, True]
Translation: X:96.30, Y:12.40, Z:3.10
[[ 9.82450458e-01 -1.83932140e-01 -3.09849295e-02  9.63012584e+01]
 [ 1.83801156e-01  9.82938175e-01 -7.04832597e-03  1.24010466e+01]
 [ 3.17526838e-02  1.22956521e-03  9.99495000e-01  3.09702816e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.16650248099998
Centerline is valid?  [True, True]
Translation: X:96.36, Y:12.42, Z:3.10
[[ 9.81709594e-01 -1.87846289e-01 -3.09845813e-02  9.63584445e+01]
 [ 1.87717202e-01  9.82197817e-01 -7.04985640e-03  1.24153566e+01]
 [ 3.17572775e-02  1.10457274e-03  9.99495000e-01  3.09890102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 97.22650248099998
Centerline is valid?  [True, True]
Translation: X:96.42, Y:12.42, Z:3.10
[[ 9.80242914e-01 -1.95355868e-01 -3.09824924e-02  9.64184852e+01]
 [ 1.95230233e-01  9.80732036e-01 -7.05902499e-03  1.24225271e+01]
 [ 3.17645448e-02  8.70840033e-04  9.99495000e-01  3.10080767e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.28650248099999
Centerline is valid?  [True, True]
Translation: X:96.48, Y:12.44, Z:3.10
[[ 9.78553903e-01 -2.03647631e-01 -3.09822662e-02  9.64762780e+01]
 [ 2.03526109e-01  9.79044064e-01 -7.06001724e-03  1.24353480e+01]
 [ 3.17707596e-02  6.02907329e-04  9.99495000e-01  3.10268913e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.34650248099997
Centerline is valid?  [True, True]
Translation: X:96.53, Y:12.44, Z:3.10
[[ 9.77609553e-01 -2.08134074e-01 -3.09801365e-02  9.65345209e+01]
 [ 2.08014507e-01  9.78100194e-01 -7.06935062e-03  1.24439841e+01]
 [ 3.17730502e-02  4.66746901e-04  9.99495000e-01  3.10455020e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.40650248099998
Centerline is valid?  [True, True]
Translation: X:96.59, Y:12.46, Z:3.11
[[ 9.77590314e-01 -2.08224512e-01 -3.09795290e-02  9.65921051e+01]
 [ 2.08104905e-01  9.78080945e-01 -7.07201156e-03  1.24577690e+01]
 [ 3.17730532e-02  4.66538047e-04  9.99495000e-01  3.10643104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.46650248099998
Centerline is valid?  [True, True]
Translation: X:96.65, Y:12.47, Z:3.11
[[ 9.78543484e-01 -2.03698434e-01 -3.09773743e-02  9.66476614e+01]
 [ 2.03576260e-01  9.79033482e-01 -7.08143727e-03  1.24741503e+01]
 [ 3.17703643e-02  6.23236287e-04  9.99495000e-01  3.10826357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.52650248099998
Centerline is valid?  [True, True]
Translation: X:96.71, Y:12.49, Z:3.11
[[ 9.80052696e-01 -1.96309129e-01 -3.09747964e-02  9.67057425e+01]
 [ 1.96182906e-01  9.80541667e-01 -7.09269533e-03  1.24887698e+01]
 [ 3.17644394e-02  8.74489608e-04  9.99495000e-01  3.11016087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.58650248099998
Centerline is valid?  [True, True]
Translation: X:96.76, Y:12.50, Z:3.11
[[ 9.81163845e-01 -1.90677993e-01 -3.09743704e-02  9.67622298e+01]
 [ 1.90548906e-01  9.81652068e-01 -7.09455518e-03  1.25040776e+01]
 [ 3.17588303e-02  1.05878866e-03  9.99495000e-01  3.11201901e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.64650248099998
Centerline is valid?  [True, True]
Translation: X:96.82, Y:12.52, Z:3.11
[[ 9.82277404e-01 -1.84855945e-01 -3.09738933e-02  9.68200441e+01]
 [ 1.84723899e-01  9.82764834e-01 -7.09663742e-03  1.25167490e+01]
 [ 3.17519088e-02  1.24924825e-03  9.99495000e-01  3.11389944e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.70650248099997
Centerline is valid?  [True, True]
Translation: X:96.88, Y:12.53, Z:3.12
[[ 9.82441845e-01 -1.83980074e-01 -3.09734262e-02  9.68773777e+01]
 [ 1.83847529e-01  9.82929140e-01 -7.09867562e-03  1.25291259e+01]
 [ 3.17506981e-02  1.27964810e-03  9.99495000e-01  3.11576291e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.76650248099997
Centerline is valid?  [True, True]
Translation: X:96.94, Y:12.54, Z:3.12
[[ 9.81403835e-01 -1.89439417e-01 -3.09712640e-02  9.69353511e+01]
 [ 1.89309287e-01  9.81891781e-01 -7.10809689e-03  1.25430904e+01]
 [ 3.17569833e-02  1.11276565e-03  9.99495000e-01  3.11765329e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.82650248099998
Centerline is valid?  [True, True]
Translation: X:96.99, Y:12.55, Z:3.12
[[ 9.80209275e-01 -1.95526412e-01 -3.09709321e-02  9.69925348e+01]
 [ 1.95399267e-01  9.80698007e-01 -7.10954267e-03  1.25513183e+01]
 [ 3.17632347e-02  9.17142253e-04  9.99495000e-01  3.11948293e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.88650248099998
Centerline is valid?  [True, True]
Translation: X:97.05, Y:12.56, Z:3.12
[[ 9.78550466e-01 -2.03665990e-01 -3.09701572e-02  9.70498397e+01]
 [ 2.03542804e-01  9.79040210e-01 -7.11291643e-03  1.25638808e+01]
 [ 3.17696884e-02  6.56595023e-04  9.99495000e-01  3.12134604e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.94650248099998
Centerline is valid?  [True, True]
Translation: X:97.11, Y:12.57, Z:3.12
[[ 9.77594814e-01 -2.08204872e-01 -3.09695187e-02  9.71076475e+01]
 [ 2.08083872e-01  9.78085103e-01 -7.11569549e-03  1.25747914e+01]
 [ 3.17723474e-02  5.12009624e-04  9.99495000e-01  3.12321331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.00650248099998
Centerline is valid?  [True, True]
Translation: X:97.17, Y:12.59, Z:3.13
[[ 9.76943643e-01 -2.11239548e-01 -3.09672794e-02  9.71662375e+01]
 [ 2.11119762e-01  9.77434230e-01 -7.12542769e-03  1.25887451e+01]
 [ 3.17736510e-02  4.23336617e-04  9.99495000e-01  3.12512248e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.06650248099999
Centerline is valid?  [True, True]
Translation: X:97.22, Y:12.60, Z:3.13
[[ 9.77556645e-01 -2.08384577e-01 -3.09656915e-02  9.72235881e+01]
 [ 2.08263140e-01  9.78046826e-01 -7.13232164e-03  1.26030550e+01]
 [ 3.17721621e-02  5.23236252e-04  9.99495000e-01  3.12699743e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.12650248099997
Centerline is valid?  [True, True]
Translation: X:97.28, Y:12.62, Z:3.13
[[ 9.78203741e-01 -2.05325577e-01 -3.09652763e-02  9.72803461e+01]
 [ 2.05202551e-01  9.78693526e-01 -7.13412374e-03  1.26163715e+01]
 [ 3.17703335e-02  6.24472846e-04  9.99495000e-01  3.12884986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.18650248099998
Centerline is valid?  [True, True]
Translation: X:97.34, Y:12.63, Z:3.13
[[ 9.79266982e-01 -2.00193325e-01 -3.09646591e-02  9.73378854e+01]
 [ 2.00067647e-01  9.79756093e-01 -7.13680172e-03  1.26312037e+01]
 [ 3.17665535e-02  7.93807788e-04  9.99495000e-01  3.13073682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.24650248099998
Centerline is valid?  [True, True]
Translation: X:97.40, Y:12.64, Z:3.13
[[ 9.79973995e-01 -1.96703568e-01 -3.09624960e-02  9.73954748e+01]
 [ 1.96575853e-01  9.80462578e-01 -7.14617367e-03  1.26447959e+01]
 [ 3.17632465e-02  9.16585299e-04  9.99495001e-01  3.13261265e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.30650248099998
Centerline is valid?  [True, True]
Translation: X:97.45, Y:12.66, Z:3.13
[[ 9.80247660e-01 -1.95335566e-01 -3.09603295e-02  9.74545284e+01]
 [ 1.95206873e-01  9.80735986e-01 -7.15554753e-03  1.26555110e+01]
 [ 3.17616423e-02  9.70539588e-04  9.99495001e-01  3.13451324e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.36650248099998
Centerline is valid?  [True, True]
Translation: X:97.51, Y:12.67, Z:3.14
[[ 9.80299810e-01 -1.95073728e-01 -3.09600174e-02  9.75112908e+01]
 [ 1.94944862e-01  9.80788091e-01 -7.15689795e-03  1.26716774e+01]
 [ 3.17613391e-02  9.80409373e-04  9.99495001e-01  3.13638648e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 98.42650248099999
Centerline is valid?  [True, True]
Translation: X:97.57, Y:12.68, Z:3.14
[[ 9.80694596e-01 -1.93079568e-01 -3.09578654e-02  9.75688783e+01]
 [ 1.92949417e-01  9.81182536e-01 -7.16619430e-03  1.26837223e+01]
 [ 3.17589626e-02  1.05454595e-03  9.99495001e-01  3.13825120e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.48650248099997
Centerline is valid?  [True, True]
Translation: X:97.63, Y:12.70, Z:3.14
[[ 9.80378140e-01 -1.94680387e-01 -3.09555946e-02  9.76254277e+01]
 [ 1.94550723e-01  9.80866210e-01 -7.17599000e-03  1.26970021e+01]
 [ 3.17603213e-02  1.01275041e-03  9.99495001e-01  3.14009233e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.54650248099998
Centerline is valid?  [True, True]
Translation: X:97.68, Y:12.71, Z:3.14
[[ 9.79715671e-01 -1.97987384e-01 -3.09548024e-02  9.76823015e+01]
 [ 1.97859260e-01  9.80204147e-01 -7.17940579e-03  1.27110050e+01]
 [ 3.17634575e-02  9.09082058e-04  9.99495001e-01  3.14195236e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.60650248099998
Centerline is valid?  [True, True]
Translation: X:97.74, Y:12.72, Z:3.14
[[ 9.78592015e-01 -2.03468979e-01 -3.09522801e-02  9.77403756e+01]
 [ 2.03343248e-01  9.79081112e-01 -7.19026359e-03  1.27232858e+01]
 [ 3.17677884e-02  7.42397351e-04  9.99495001e-01  3.14383291e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.66650248099998
Centerline is valid?  [True, True]
Translation: X:97.80, Y:12.73, Z:3.15
[[ 9.77674400e-01 -2.07833710e-01 -3.09502121e-02  9.77995633e+01]
 [ 2.07709882e-01  9.78163983e-01 -7.19915442e-03  1.27339921e+01]
 [ 3.17706097e-02  6.09764074e-04  9.99495001e-01  3.14573771e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.72650248099998
Centerline is valid?  [True, True]
Translation: X:97.86, Y:12.75, Z:3.15
[[ 9.76731336e-01 -2.12221581e-01 -3.09499372e-02  9.78563555e+01]
 [ 2.12099915e-01  9.77221460e-01 -7.20033604e-03  1.27482770e+01]
 [ 3.17730095e-02  4.68314795e-04  9.99495001e-01  3.14759854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.78650248099999
Centerline is valid?  [True, True]
Translation: X:97.91, Y:12.76, Z:3.15
[[ 9.75876387e-01 -2.16119217e-01 -3.09477095e-02  9.79138016e+01]
 [ 2.15999205e-01  9.76366919e-01 -7.20989819e-03  1.27616458e+01]
 [ 3.17745173e-02  3.51288736e-04  9.99495001e-01  3.14946818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.84650248099997
Centerline is valid?  [True, True]
Translation: X:97.97, Y:12.78, Z:3.15
[[ 9.74694599e-01 -2.21388386e-01 -3.09454431e-02  9.79708328e+01]
 [ 2.21270718e-01  9.75185698e-01 -7.21961250e-03  1.27751618e+01]
 [ 3.17758919e-02  1.89596894e-04  9.99495001e-01  3.15132594e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.90650248099998
Centerline is valid?  [True, True]
Translation: X:98.03, Y:12.79, Z:3.15
[[ 9.74019003e-01 -2.24342376e-01 -3.09431646e-02  9.80280891e+01]
 [ 2.24225887e-01  9.74510384e-01 -7.22936503e-03  1.27884461e+01]
 [ 3.17762881e-02  1.03280382e-04  9.99495001e-01  3.15318898e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.96650248099998
Centerline is valid?  [True, True]
Translation: X:98.09, Y:12.80, Z:3.16
[[ 9.73806926e-01 -2.25261221e-01 -3.09427499e-02  9.80857177e+01]
 [ 2.25145140e-01  9.74298402e-01 -7.23113955e-03  1.28027359e+01]
 [ 3.17763671e-02  7.51240310e-05  9.99495001e-01  3.15507543e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.02650248099998
Centerline is valid?  [True, True]
Translation: X:98.14, Y:12.82, Z:3.16
[[ 9.74252436e-01 -2.23326592e-01 -3.09422617e-02  9.81413071e+01]
 [ 2.23209469e-01  9.74743665e-01 -7.23322818e-03  1.28212441e+01]
 [ 3.17761458e-02  1.40384381e-04  9.99495001e-01  3.15692909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.08650248099998
Centerline is valid?  [True, True]
Translation: X:98.20, Y:12.84, Z:3.16
[[ 9.75002480e-01 -2.20029033e-01 -3.09416837e-02  9.81985592e+01]
 [ 2.19910170e-01  9.75493291e-01 -7.23569964e-03  1.28367914e+01]
 [ 3.17754689e-02  2.50434167e-04  9.99495001e-01  3.15881260e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.14650248099998
Centerline is valid?  [True, True]
Translation: X:98.25, Y:12.85, Z:3.16
[[ 9.75425013e-01 -2.18148313e-01 -3.09411988e-02  9.82534060e+01]
 [ 2.18028438e-01  9.75915578e-01 -7.23777258e-03  1.28547430e+01]
 [ 3.17749058e-02  3.13843169e-04  9.99495001e-01  3.16063930e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.20650248099997
Centerline is valid?  [True, True]
Translation: X:98.31, Y:12.87, Z:3.16
[[ 9.75644213e-01 -2.17165977e-01 -3.09404078e-02  9.83086188e+01]
 [ 2.17045501e-01  9.76134630e-01 -7.24115261e-03  1.28739388e+01]
 [ 3.17745355e-02  3.49312346e-04  9.99495001e-01  3.16248563e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.26650248099997
Centerline is valid?  [True, True]
Translation: X:98.37, Y:12.89, Z:3.16
[[ 9.75619491e-01 -2.17277103e-01 -3.09397812e-02  9.83653777e+01]
 [ 2.17156598e-01  9.76109901e-01 -7.24382881e-03  1.28921985e+01]
 [ 3.17745449e-02  3.48442964e-04  9.99495001e-01  3.16437347e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.32650248099998
Centerline is valid?  [True, True]
Translation: X:98.42, Y:12.91, Z:3.17
[[ 9.74959962e-01 -2.20217672e-01 -3.09394414e-02  9.84211204e+01]
 [ 2.20098600e-01  9.75450723e-01 -7.24528002e-03  1.29112737e+01]
 [ 3.17754391e-02  2.54130201e-04  9.99495001e-01  3.16623646e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.38650248099998
Centerline is valid?  [True, True]
Translation: X:98.48, Y:12.93, Z:3.17
[[ 9.73780674e-01 -2.25375206e-01 -3.09389003e-02  9.84778152e+01]
 [ 2.25258659e-01  9.74272040e-01 -7.24758972e-03  1.29286684e+01]
 [ 3.17763326e-02  8.83076053e-05  9.99495001e-01  3.16811629e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.44650248099998
Centerline is valid?  [True, True]
Translation: X:98.53, Y:12.95, Z:3.17
[[ 9.73014780e-01 -2.28659248e-01 -3.09384101e-02  9.85329954e+01]
 [ 2.28544294e-01  9.73506522e-01 -7.24968168e-03  1.29457961e+01]
 [ 3.17764508e-02 -1.67496629e-05  9.99495001e-01  3.16994743e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.50650248099998
Centerline is valid?  [True, True]
Translation: X:98.59, Y:12.96, Z:3.17
[[ 9.72820539e-01 -2.29484393e-01 -3.09372268e-02  9.85894348e+01]
 [ 2.29369695e-01  9.73312340e-01 -7.25472789e-03  1.29637326e+01]
 [ 3.17764314e-02 -3.85139644e-05  9.99495001e-01  3.17182186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.56650248099997
Centerline is valid?  [True, True]
Translation: X:98.65, Y:12.98, Z:3.17
[[ 9.73919808e-01 -2.24773520e-01 -3.09365912e-02  9.86455743e+01]
 [ 2.24656357e-01  9.74411028e-01 -7.25743724e-03  1.29826952e+01]
 [ 3.17762353e-02  1.18060000e-04  9.99495001e-01  3.17369574e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 99.62650248099997
Centerline is valid?  [True, True]
Translation: X:98.70, Y:13.00, Z:3.18
[[ 9.75556342e-01 -2.17560998e-01 -3.09359824e-02  9.87011366e+01]
 [ 2.17440121e-01  9.76046662e-01 -7.26003144e-03  1.30016934e+01]
 [ 3.17744620e-02  3.55845962e-04  9.99495001e-01  3.17555211e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.68650248099998
Centerline is valid?  [True, True]
Translation: X:98.76, Y:13.02, Z:3.18
[[ 9.77391277e-01 -2.09163319e-01 -3.09353734e-02  9.87583330e+01]
 [ 2.09038149e-01  9.77880518e-01 -7.26262551e-03  1.30211671e+01]
 [ 3.17701738e-02  6.31753644e-04  9.99495001e-01  3.17746254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.74650248099998
Centerline is valid?  [True, True]
Translation: X:98.82, Y:13.04, Z:3.18
[[ 9.78791842e-01 -2.02508300e-01 -3.09340901e-02  9.88160344e+01]
 [ 2.02379630e-01  9.79280174e-01 -7.26808734e-03  1.30384200e+01]
 [ 3.17649892e-02  8.53514877e-04  9.99495001e-01  3.17937102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.80650248099998
Centerline is valid?  [True, True]
Translation: X:98.87, Y:13.05, Z:3.18
[[ 9.79001297e-01 -2.01493320e-01 -3.09338273e-02  9.88742157e+01]
 [ 2.01364109e-01  9.79489487e-01 -7.26920583e-03  1.30542451e+01]
 [ 3.17640550e-02  8.87599375e-04  9.99495001e-01  3.18128621e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.86650248099998
Centerline is valid?  [True, True]
Translation: X:98.93, Y:13.07, Z:3.18
[[ 9.78904366e-01 -2.01963872e-01 -3.09327750e-02  9.89326612e+01]
 [ 2.01834755e-01  9.79392580e-01 -7.27368073e-03  1.30663632e+01]
 [ 3.17643510e-02  8.76928750e-04  9.99495001e-01  3.18318091e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.92650248099999
Centerline is valid?  [True, True]
Translation: X:98.99, Y:13.08, Z:3.19
[[ 9.78317067e-01 -2.04789903e-01 -3.09323616e-02  9.89900980e+01]
 [ 2.04662141e-01  9.78805638e-01 -7.27543823e-03  1.30816315e+01]
 [ 3.17667063e-02  7.87002037e-04  9.99495001e-01  3.18506870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.98650248099997
Centerline is valid?  [True, True]
Translation: X:99.05, Y:13.09, Z:3.19
[[ 9.77174807e-01 -2.10172799e-01 -3.09320285e-02  9.90466713e+01]
 [ 2.10047683e-01  9.77664062e-01 -7.27685418e-03  1.30935632e+01]
 [ 3.17705295e-02  6.13557653e-04  9.99495001e-01  3.18690565e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.04650248099998
Centerline is valid?  [True, True]
Translation: X:99.10, Y:13.11, Z:3.19
[[ 9.76610163e-01 -2.12781226e-01 -3.09312114e-02  9.91035187e+01]
 [ 2.12657308e-01  9.77099722e-01 -7.28032588e-03  1.31082736e+01]
 [ 3.17719947e-02  5.32292105e-04  9.99495001e-01  3.18877027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.10650248099998
Centerline is valid?  [True, True]
Translation: X:99.16, Y:13.12, Z:3.19
[[ 9.76574585e-01 -2.12944786e-01 -3.09289071e-02  9.91599816e+01]
 [ 2.12820640e-01  9.77064087e-01 -7.29010196e-03  1.31233762e+01]
 [ 3.17719136e-02  5.37018498e-04  9.99495001e-01  3.19062263e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.16650248099998
Centerline is valid?  [True, True]
Translation: X:99.22, Y:13.14, Z:3.19
[[ 9.76369520e-01 -2.13883389e-01 -3.09266421e-02  9.92173566e+01]
 [ 2.13759409e-01  9.76859063e-01 -7.29969808e-03  1.31385546e+01]
 [ 3.17722548e-02  5.16341967e-04  9.99495001e-01  3.19250389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.22650248099998
Centerline is valid?  [True, True]
Translation: X:99.27, Y:13.15, Z:3.19
[[ 9.76500004e-01 -2.13287165e-01 -3.09245508e-02  9.92746030e+01]
 [ 2.13162607e-01  9.76989400e-01 -7.30854706e-03  1.31513354e+01]
 [ 3.17717776e-02  5.44838363e-04  9.99495001e-01  3.19436405e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.28650248099999
Centerline is valid?  [True, True]
Translation: X:99.33, Y:13.17, Z:3.20
[[ 9.76365442e-01 -2.13902628e-01 -3.09223123e-02  9.93315567e+01]
 [ 2.13778078e-01  9.76854841e-01 -7.31800571e-03  1.31677790e+01]
 [ 3.17719512e-02  5.34535374e-04  9.99495001e-01  3.19624165e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.34650248099997
Centerline is valid?  [True, True]
Translation: X:99.39, Y:13.18, Z:3.20
[[ 9.76297293e-01 -2.14213804e-01 -3.09199133e-02  9.93891297e+01]
 [ 2.14089090e-01  9.76786650e-01 -7.32812797e-03  1.31821711e+01]
 [ 3.17719447e-02  5.34815383e-04  9.99495001e-01  3.19812308e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.40650248099998
Centerline is valid?  [True, True]
Translation: X:99.45, Y:13.20, Z:3.20
[[ 9.76803074e-01 -2.11895601e-01 -3.09194031e-02  9.94454856e+01]
 [ 2.11769658e-01  9.77292115e-01 -7.33028020e-03  1.31987366e+01]
 [ 3.17705430e-02  6.12448813e-04  9.99495001e-01  3.19998685e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.46650248099998
Centerline is valid?  [True, True]
Translation: X:99.50, Y:13.21, Z:3.20
[[ 9.76964862e-01 -2.11148504e-01 -3.09187136e-02  9.95026353e+01]
 [ 2.11022095e-01  9.77453784e-01 -7.33318725e-03  1.32148202e+01]
 [ 3.17700051e-02  6.39734557e-04  9.99495001e-01  3.20187127e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.52650248099998
Centerline is valid?  [True, True]
Translation: X:99.56, Y:13.23, Z:3.20
[[ 9.77339636e-01 -2.09407305e-01 -3.09162989e-02  9.95584565e+01]
 [ 2.09279703e-01  9.77828247e-01 -7.34335365e-03  1.32319102e+01]
 [ 3.17685822e-02  7.06796746e-04  9.99495001e-01  3.20371839e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.58650248099998
Centerline is valid?  [True, True]
Translation: X:99.62, Y:13.25, Z:3.21
[[ 9.77353447e-01 -2.09342948e-01 -3.09155100e-02  9.96160568e+01]
 [ 2.09215209e-01  9.77842023e-01 -7.34667315e-03  1.32463515e+01]
 [ 3.17684591e-02  7.12301432e-04  9.99495001e-01  3.20560453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.64650248099998
Centerline is valid?  [True, True]
Translation: X:99.67, Y:13.26, Z:3.21
[[ 9.77090655e-01 -2.10566427e-01 -3.09132763e-02  9.96728801e+01]
 [ 2.10439003e-01  9.77579314e-01 -7.35606022e-03  1.32607538e+01]
 [ 3.17691187e-02  6.82178659e-04  9.99495001e-01  3.20746333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.70650248099997
Centerline is valid?  [True, True]
Translation: X:99.73, Y:13.28, Z:3.21
[[ 9.77109042e-01 -2.10481171e-01 -3.09127407e-02  9.97296923e+01]
 [ 2.10353633e-01  9.77597670e-01 -7.35831034e-03  1.32785624e+01]
 [ 3.17690090e-02  6.87264263e-04  9.99495001e-01  3.20935043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.76650248099997
Centerline is valid?  [True, True]
Translation: X:99.79, Y:13.29, Z:3.21
[[ 9.76913123e-01 -2.11388935e-01 -3.09106502e-02  9.97872882e+01]
 [ 2.11261574e-01  9.77401797e-01 -7.36708163e-03  1.32906109e+01]
 [ 3.17694446e-02  6.66766108e-04  9.99495001e-01  3.21121614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 100.82650248099998
Centerline is valid?  [True, True]
Translation: X:99.84, Y:13.31, Z:3.21
[[ 9.76498756e-01 -2.13295240e-01 -3.09082516e-02  9.98433986e+01]
 [ 2.13168514e-01  9.76987596e-01 -7.37713126e-03  1.33079848e+01]
 [ 3.17704854e-02  6.15093434e-04  9.99495001e-01  3.21307455e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.88650248099998
Centerline is valid?  [True, True]
Translation: X:99.90, Y:13.32, Z:3.21
[[ 9.76072691e-01 -2.15236644e-01 -3.09077491e-02  9.99013630e+01]
 [ 2.15110824e-01  9.76561765e-01 -7.37923563e-03  1.33213122e+01]
 [ 3.17716079e-02  5.54078989e-04  9.99495001e-01  3.21496437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.94650248099998
Centerline is valid?  [True, True]
Translation: X:99.96, Y:13.34, Z:3.22
[[ 9.76268641e-01 -2.14346172e-01 -3.09072492e-02  9.99581580e+01]
 [ 2.14219841e-01  9.76757583e-01 -7.38132909e-03  1.33361972e+01]
 [ 3.17710496e-02  5.85214130e-04  9.99495001e-01  3.21682953e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.00650248099998
Centerline is valid?  [True, True]
Translation: X:100.02, Y:13.35, Z:3.22
[[ 9.76293735e-01 -2.14231918e-01 -3.09067584e-02  1.00015565e+02]
 [ 2.14105464e-01  9.76782645e-01 -7.38338329e-03  1.33499969e+01]
 [ 3.17709416e-02  5.91045005e-04  9.99495001e-01  3.21870562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.06650248099997
Centerline is valid?  [True, True]
Translation: X:100.07, Y:13.36, Z:3.22
[[ 9.77246702e-01 -2.09842321e-01 -3.09044209e-02  1.00072655e+02]
 [ 2.09713363e-01  9.77734957e-01 -7.39315442e-03  1.33642208e+01]
 [ 3.17677294e-02  7.43865740e-04  9.99495002e-01  3.22057126e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.12650248099997
Centerline is valid?  [True, True]
Translation: X:100.13, Y:13.38, Z:3.22
[[ 9.77474966e-01 -2.08776527e-01 -3.09039387e-02  1.00129116e+02]
 [ 2.08646972e-01  9.77963063e-01 -7.39516976e-03  1.33813823e+01]
 [ 3.17668484e-02  7.80580076e-04  9.99495002e-01  3.22244302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.18650248099998
Centerline is valid?  [True, True]
Translation: X:100.19, Y:13.39, Z:3.22
[[ 9.77863361e-01 -2.06950094e-01 -3.09015591e-02  1.00186103e+02]
 [ 2.06819314e-01  9.78351131e-01 -7.40509978e-03  1.33923403e+01]
 [ 3.17650614e-02  8.50136519e-04  9.99495002e-01  3.22428122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.24650248099998
Centerline is valid?  [True, True]
Translation: X:100.24, Y:13.41, Z:3.23
[[ 9.78205617e-01 -2.05326366e-01 -3.09007284e-02  1.00243158e+02]
 [ 2.05194667e-01  9.78693140e-01 -7.40856439e-03  1.34086423e+01]
 [ 3.17635045e-02  9.06434623e-04  9.99495002e-01  3.22616430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.30650248099998
Centerline is valid?  [True, True]
Translation: X:100.30, Y:13.42, Z:3.23
[[ 9.78364157e-01 -2.04569931e-01 -3.08985338e-02  1.00301643e+02]
 [ 2.04437567e-01  9.78851500e-01 -7.41770612e-03  1.34212301e+01]
 [ 3.17625158e-02  9.40396733e-04  9.99495002e-01  3.22806129e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.36650248099998
Centerline is valid?  [True, True]
Translation: X:100.36, Y:13.43, Z:3.23
[[ 9.78211112e-01 -2.05300567e-01 -3.08981837e-02  1.00357569e+02]
 [ 2.05168521e-01  9.78698541e-01 -7.41916403e-03  1.34348275e+01]
 [ 3.17631659e-02  9.18174039e-04  9.99495002e-01  3.22989038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.42650248099999
Centerline is valid?  [True, True]
Translation: X:100.42, Y:13.45, Z:3.23
[[ 9.78180115e-01 -2.05448335e-01 -3.08973265e-02  1.00415075e+02]
 [ 2.05316250e-01  9.78667533e-01 -7.42273213e-03  1.34472454e+01]
 [ 3.17631983e-02  9.17045750e-04  9.99495002e-01  3.23175854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.48650248099997
Centerline is valid?  [True, True]
Translation: X:100.47, Y:13.46, Z:3.23
[[ 9.77864616e-01 -2.06944898e-01 -3.08966358e-02  1.00472360e+02]
 [ 2.06813468e-01  9.78352212e-01 -7.42560615e-03  1.34574517e+01]
 [ 3.17644833e-02  8.71397106e-04  9.99495002e-01  3.23360376e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.54650248099998
Centerline is valid?  [True, True]
Translation: X:100.53, Y:13.47, Z:3.24
[[ 9.77300854e-01 -2.09591304e-01 -3.08953966e-02  1.00530377e+02]
 [ 2.09461031e-01  9.77788761e-01 -7.43075863e-03  1.34700436e+01]
 [ 3.17665939e-02  7.90705127e-04  9.99495002e-01  3.23548819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.60650248099998
Centerline is valid?  [True, True]
Translation: X:100.59, Y:13.48, Z:3.24
[[ 9.77214499e-01 -2.09993923e-01 -3.08929548e-02  1.00586712e+02]
 [ 2.09863531e-01  9.77702374e-01 -7.44089615e-03  1.34807286e+01]
 [ 3.17666583e-02  7.88047022e-04  9.99495002e-01  3.23730397e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.66650248099998
Centerline is valid?  [True, True]
Translation: X:100.64, Y:13.50, Z:3.24
[[ 9.77205725e-01 -2.10034926e-01 -3.08917594e-02  1.00643783e+02]
 [ 2.09904399e-01  9.77693563e-01 -7.44585585e-03  1.34953195e+01]
 [ 3.17665641e-02  7.91816780e-04  9.99495002e-01  3.23917410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.72650248099998
Centerline is valid?  [True, True]
Translation: X:100.70, Y:13.51, Z:3.24
[[ 9.77786650e-01 -2.07314046e-01 -3.08893677e-02  1.00700979e+02]
 [ 2.07181848e-01  9.78274038e-01 -7.45576457e-03  1.35080110e+01]
 [ 3.17639512e-02  8.90430785e-04  9.99495002e-01  3.24103147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.78650248099999
Centerline is valid?  [True, True]
Translation: X:100.76, Y:13.52, Z:3.24
[[ 9.78670856e-01 -2.03099364e-01 -3.08869638e-02  1.00758883e+02]
 [ 2.02964754e-01  9.79157583e-01 -7.46571022e-03  1.35214174e+01]
 [ 3.17594858e-02  1.03750800e-03  9.99495002e-01  3.24291602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.84650248099997
Centerline is valid?  [True, True]
Translation: X:100.82, Y:13.53, Z:3.24
[[ 9.78792461e-01 -2.02512544e-01 -3.08866837e-02  1.00815344e+02]
 [ 2.02377606e-01  9.79279097e-01 -7.46686863e-03  1.35334438e+01]
 [ 3.17588183e-02  1.05774162e-03  9.99495002e-01  3.24475008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.90650248099998
Centerline is valid?  [True, True]
Translation: X:100.87, Y:13.54, Z:3.25
[[ 9.79298561e-01 -2.00050978e-01 -3.08858467e-02  1.00873398e+02]
 [ 1.99914707e-01  9.79784825e-01 -7.47032931e-03  1.35449202e+01]
 [ 3.17559306e-02  1.14114773e-03  9.99495002e-01  3.24662808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.96650248099998
Centerline is valid?  [True, True]
Translation: X:100.93, Y:13.56, Z:3.25
[[ 9.79368184e-01 -1.99709930e-01 -3.08853463e-02  1.00930172e+02]
 [ 1.99573424e-01  9.79854383e-01 -7.47239742e-03  1.35590103e+01]
 [ 3.17554539e-02  1.15433396e-03  9.99495002e-01  3.24848674e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 102.02650248099998
Centerline is valid?  [True, True]
Translation: X:100.99, Y:13.57, Z:3.25
[[ 9.79175252e-01 -2.00654104e-01 -3.08829482e-02  1.00986986e+02]
 [ 2.00517756e-01  9.79661495e-01 -7.48229549e-03  1.35712838e+01]
 [ 3.17561885e-02  1.13389908e-03  9.99495002e-01  3.25032908e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.08650248099998
Centerline is valid?  [True, True]
Translation: X:101.05, Y:13.58, Z:3.25
[[ 9.78464115e-01 -2.04093778e-01 -3.08821104e-02  1.01045661e+02]
 [ 2.03959031e-01  9.78950804e-01 -7.48575209e-03  1.35840491e+01]
 [ 3.17598622e-02  1.02585451e-03  9.99495002e-01  3.25223586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.14650248099998
Centerline is valid?  [True, True]
Translation: X:101.10, Y:13.60, Z:3.25
[[ 9.77661983e-01 -2.07902274e-01 -3.08818817e-02  1.01102868e+02]
 [ 2.07769393e-01  9.78149185e-01 -7.48669522e-03  1.35989209e+01]
 [ 3.17635884e-02  9.03147471e-04  9.99495002e-01  3.25411433e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.20650248099997
Centerline is valid?  [True, True]
Translation: X:101.16, Y:13.61, Z:3.26
[[ 9.77412906e-01 -2.09070499e-01 -3.08794069e-02  1.01160545e+02]
 [ 2.08937878e-01  9.77900179e-01 -7.49688907e-03  1.36110015e+01]
 [ 3.17643558e-02  8.75678375e-04  9.99495002e-01  3.25598171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.26650248099997
Centerline is valid?  [True, True]
Translation: X:101.22, Y:13.63, Z:3.26
[[ 9.76587309e-01 -2.12893664e-01 -3.08790341e-02  1.01217283e+02]
 [ 2.12762903e-01  9.77075085e-01 -7.49842436e-03  1.36263456e+01]
 [ 3.17675018e-02  7.52953148e-04  9.99495002e-01  3.25784896e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.32650248099998
Centerline is valid?  [True, True]
Translation: X:101.27, Y:13.64, Z:3.26
[[ 9.76407807e-01 -2.13715777e-01 -3.08765583e-02  1.01274016e+02]
 [ 2.13585105e-01  9.76895605e-01 -7.50860514e-03  1.36385511e+01]
 [ 3.17678815e-02  7.36687744e-04  9.99495002e-01  3.25968807e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.38650248099998
Centerline is valid?  [True, True]
Translation: X:101.33, Y:13.65, Z:3.26
[[ 9.76204356e-01 -2.14643300e-01 -3.08756913e-02  1.01331698e+02]
 [ 2.14512978e-01  9.76692249e-01 -7.51216833e-03  1.36526700e+01]
 [ 3.17684850e-02  7.10174951e-04  9.99495002e-01  3.26157425e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.44650248099998
Centerline is valid?  [True, True]
Translation: X:101.39, Y:13.66, Z:3.26
[[ 9.76278168e-01 -2.14307516e-01 -3.08743720e-02  1.01389804e+02]
 [ 2.14176855e-01  9.76765970e-01 -7.51758681e-03  1.36629591e+01]
 [ 3.17681113e-02  7.26679983e-04  9.99495002e-01  3.26344378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.50650248099998
Centerline is valid?  [True, True]
Translation: X:101.45, Y:13.68, Z:3.27
[[ 9.76536963e-01 -2.13125231e-01 -3.08738679e-02  1.01446794e+02]
 [ 2.12993915e-01  9.77024589e-01 -7.51965659e-03  1.36772613e+01]
 [ 3.17671566e-02  7.67276635e-04  9.99495002e-01  3.26531069e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.56650248099997
Centerline is valid?  [True, True]
Translation: X:101.50, Y:13.69, Z:3.27
[[ 9.77357559e-01 -2.09330255e-01 -3.08714455e-02  1.01502999e+02]
 [ 2.09196732e-01  9.77844585e-01 -7.52958857e-03  1.36902168e+01]
 [ 3.17636465e-02  9.00894817e-04  9.99495002e-01  3.26713920e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.62650248099997
Centerline is valid?  [True, True]
Translation: X:101.56, Y:13.70, Z:3.27
[[ 9.77871615e-01 -2.06915708e-01 -3.08705995e-02  1.01561480e+02]
 [ 2.06780873e-01  9.78358280e-01 -7.53305530e-03  1.37017263e+01]
 [ 3.17612141e-02  9.82911442e-04  9.99495002e-01  3.26903042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.68650248099998
Centerline is valid?  [True, True]
Translation: X:101.62, Y:13.72, Z:3.27
[[ 9.77801126e-01 -2.07248600e-01 -3.08703111e-02  1.01618367e+02]
 [ 2.07113893e-01  9.78287826e-01 -7.53423687e-03  1.37156509e+01]
 [ 3.17615096e-02  9.73314959e-04  9.99495002e-01  3.27089177e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.74650248099998
Centerline is valid?  [True, True]
Translation: X:101.68, Y:13.73, Z:3.27
[[ 9.78012357e-01 -2.06249917e-01 -3.08674723e-02  1.01676189e+02]
 [ 2.06114347e-01  9.78498818e-01 -7.54584971e-03  1.37279182e+01]
 [ 3.17601160e-02  1.01770537e-03  9.99495002e-01  3.27276412e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.80650248099998
Centerline is valid?  [True, True]
Translation: X:101.73, Y:13.74, Z:3.27
[[ 9.77758780e-01 -2.07448813e-01 -3.08667766e-02  1.01731954e+02]
 [ 2.07313750e-01  9.78245381e-01 -7.54869414e-03  1.37419045e+01]
 [ 3.17612493e-02  9.81694758e-04  9.99495002e-01  3.27459041e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.86650248099998
Centerline is valid?  [True, True]
Translation: X:101.79, Y:13.75, Z:3.28
[[ 9.77875046e-01 -2.06900193e-01 -3.08659255e-02  1.01789990e+02]
 [ 2.06764747e-01  9.78361541e-01 -7.55217272e-03  1.37541039e+01]
 [ 3.17605804e-02  1.00309596e-03  9.99495002e-01  3.27647303e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.92650248099997
Centerline is valid?  [True, True]
Translation: X:101.85, Y:13.76, Z:3.28
[[ 9.78085237e-01 -2.05904307e-01 -3.08656105e-02  1.01848417e+02]
 [ 2.05768325e-01  9.78571582e-01 -7.55346005e-03  1.37638730e+01]
 [ 3.17594992e-02  1.03676278e-03  9.99495002e-01  3.27835049e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.98650248099997
Centerline is valid?  [True, True]
Translation: X:101.91, Y:13.78, Z:3.28
[[ 9.78430401e-01 -2.04258195e-01 -3.08632349e-02  1.01905955e+02]
 [ 2.04121090e-01  9.78916431e-01 -7.56315405e-03  1.37786908e+01]
 [ 3.17573640e-02  1.10018270e-03  9.99495002e-01  3.28023423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.04650248099998
Centerline is valid?  [True, True]
Translation: X:101.96, Y:13.79, Z:3.28
[[ 9.78525846e-01 -2.03800517e-01 -3.08629014e-02  1.01964035e+02]
 [ 2.03663142e-01  9.79011799e-01 -7.56451470e-03  1.37929295e+01]
 [ 3.17567967e-02  1.11643766e-03  9.99495002e-01  3.28213469e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.10650248099998
Centerline is valid?  [True, True]
Translation: X:102.02, Y:13.81, Z:3.28
[[ 9.78275588e-01 -2.04998475e-01 -3.08625697e-02  1.02022116e+02]
 [ 2.04861653e-01  9.78761698e-01 -7.56586779e-03  1.38066619e+01]
 [ 3.17580925e-02  1.07894673e-03  9.99495002e-01  3.28403138e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.16650248099998
Centerline is valid?  [True, True]
Translation: X:102.08, Y:13.82, Z:3.29
[[ 9.77819099e-01 -2.07165001e-01 -3.08621308e-02  1.02079436e+02]
 [ 2.07029199e-01  9.78305495e-01 -7.56765799e-03  1.38200406e+01]
 [ 3.17603460e-02  1.01043832e-03  9.99495002e-01  3.28590165e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 103.22650248099998
Centerline is valid?  [True, True]
Translation: X:102.14, Y:13.83, Z:3.29
[[ 9.77047276e-01 -2.10775215e-01 -3.08614424e-02  1.02137002e+02]
 [ 2.10641122e-01  9.77534146e-01 -7.57046396e-03  1.38344661e+01]
 [ 3.17637799e-02  8.96012345e-04  9.99495002e-01  3.28778687e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.28650248099999
Centerline is valid?  [True, True]
Translation: X:102.19, Y:13.85, Z:3.29
[[ 9.76194234e-01 -2.14691697e-01 -3.08592284e-02  1.02192594e+02]
 [ 2.14559272e-01  9.76681560e-01 -7.57947841e-03  1.38486237e+01]
 [ 3.17668904e-02  7.77909544e-04  9.99495002e-01  3.28960588e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.34650248099997
Centerline is valid?  [True, True]
Translation: X:102.25, Y:13.86, Z:3.29
[[ 9.75916073e-01 -2.15952745e-01 -3.08582258e-02  1.02250812e+02]
 [ 2.15820821e-01  9.76403535e-01 -7.58355795e-03  1.38644887e+01]
 [ 3.17677709e-02  7.41068457e-04  9.99495002e-01  3.29152154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.40650248099998
Centerline is valid?  [True, True]
Translation: X:102.31, Y:13.88, Z:3.29
[[ 9.75723411e-01 -2.16821646e-01 -3.08577208e-02  1.02308506e+02]
 [ 2.16690092e-01  9.76210972e-01 -7.58561232e-03  1.38753291e+01]
 [ 3.17683706e-02  7.14897177e-04  9.99495002e-01  3.29338393e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.46650248099998
Centerline is valid?  [True, True]
Translation: X:102.36, Y:13.89, Z:3.30
[[ 9.75191133e-01 -2.19203566e-01 -3.08553110e-02  1.02364727e+02]
 [ 2.19072893e-01  9.75678932e-01 -7.59540169e-03  1.38880677e+01]
 [ 3.17698160e-02  6.47406129e-04  9.99495002e-01  3.29521115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.52650248099998
Centerline is valid?  [True, True]
Translation: X:102.42, Y:13.90, Z:3.30
[[ 9.74880469e-01 -2.20581215e-01 -3.08544678e-02  1.02422713e+02]
 [ 2.20451123e-01  9.75368423e-01 -7.59882550e-03  1.39016394e+01]
 [ 3.17706317e-02  6.06044510e-04  9.99495002e-01  3.29710256e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.58650248099998
Centerline is valid?  [True, True]
Translation: X:102.48, Y:13.91, Z:3.30
[[ 9.75451973e-01 -2.18040329e-01 -3.08522959e-02  1.02480526e+02]
 [ 2.17908687e-01  9.75939510e-01 -7.60763350e-03  1.39142095e+01]
 [ 3.17687455e-02  6.97897814e-04  9.99495002e-01  3.29897812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.64650248099998
Centerline is valid?  [True, True]
Translation: X:102.54, Y:13.93, Z:3.30
[[ 9.75142777e-01 -2.19419103e-01 -3.08515958e-02  1.02537735e+02]
 [ 2.19288061e-01  9.75630477e-01 -7.61047160e-03  1.39265263e+01]
 [ 3.17696400e-02  6.55909777e-04  9.99495002e-01  3.30083626e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.70650248099997
Centerline is valid?  [True, True]
Translation: X:102.60, Y:13.94, Z:3.30
[[ 9.74738039e-01 -2.21210497e-01 -3.08491774e-02  1.02596630e+02]
 [ 2.21080042e-01  9.75225895e-01 -7.62026182e-03  1.39356950e+01]
 [ 3.17705986e-02  6.07621627e-04  9.99495002e-01  3.30271873e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.76650248099997
Centerline is valid?  [True, True]
Translation: X:102.65, Y:13.95, Z:3.30
[[ 9.74973840e-01 -2.20169208e-01 -3.08468985e-02  1.02652937e+02]
 [ 2.20037940e-01  9.75461479e-01 -7.62947575e-03  1.39479605e+01]
 [ 3.17697369e-02  6.51051264e-04  9.99495002e-01  3.30454515e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.82650248099998
Centerline is valid?  [True, True]
Translation: X:102.71, Y:13.96, Z:3.31
[[ 9.75361074e-01 -2.18447529e-01 -3.08456115e-02  1.02710461e+02]
 [ 2.18315236e-01  9.75848436e-01 -7.63467554e-03  1.39607228e+01]
 [ 3.17684178e-02  7.12498388e-04  9.99495002e-01  3.30641505e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.88650248099998
Centerline is valid?  [True, True]
Translation: X:102.77, Y:13.97, Z:3.31
[[ 9.75765116e-01 -2.16635949e-01 -3.08432088e-02  1.02769124e+02]
 [ 2.16502445e-01  9.76252147e-01 -7.64436995e-03  1.39719401e+01]
 [ 3.17667942e-02  7.81479427e-04  9.99495003e-01  3.30830586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.94650248099998
Centerline is valid?  [True, True]
Translation: X:102.83, Y:13.98, Z:3.31
[[ 9.76201429e-01 -2.14661346e-01 -3.08427715e-02  1.02826909e+02]
 [ 2.14526802e-01  9.76688173e-01 -7.64613408e-03  1.39841684e+01]
 [ 3.17650996e-02  8.47565896e-04  9.99495003e-01  3.31018157e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.00650248099998
Centerline is valid?  [True, True]
Translation: X:102.88, Y:14.00, Z:3.31
[[ 9.76752601e-01 -2.12139395e-01 -3.08420753e-02  1.02884384e+02]
 [ 2.12003505e-01  9.77238972e-01 -7.64894117e-03  1.39964218e+01]
 [ 3.17627197e-02  9.32495109e-04  9.99495003e-01  3.31204736e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.06650248099997
Centerline is valid?  [True, True]
Translation: X:102.94, Y:14.01, Z:3.31
[[ 9.77250596e-01 -2.09833437e-01 -3.08415624e-02  1.02940827e+02]
 [ 2.09696334e-01  9.77736626e-01 -7.65100853e-03  1.40092049e+01]
 [ 3.17603626e-02  1.00959005e-03  9.99495003e-01  3.31388575e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.12650248099997
Centerline is valid?  [True, True]
Translation: X:103.00, Y:14.02, Z:3.32
[[ 9.77514894e-01 -2.08598848e-01 -3.08407453e-02  1.02998612e+02]
 [ 2.08461028e-01  9.78000722e-01 -7.65430077e-03  1.40226058e+01]
 [ 3.17589495e-02  1.05309953e-03  9.99495003e-01  3.31576958e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.18650248099998
Centerline is valid?  [True, True]
Translation: X:103.06, Y:14.04, Z:3.32
[[ 9.77399894e-01 -2.09137083e-01 -3.08403464e-02  1.03055579e+02]
 [ 2.08999480e-01  9.77885783e-01 -7.65590796e-03  1.40372224e+01]
 [ 3.17594705e-02  1.03726729e-03  9.99495003e-01  3.31763842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.24650248099998
Centerline is valid?  [True, True]
Translation: X:103.11, Y:14.05, Z:3.32
[[ 9.77423843e-01 -2.09025477e-01 -3.08379746e-02  1.03112908e+02]
 [ 2.08887517e-01  9.77909631e-01 -7.66544962e-03  1.40508978e+01]
 [ 3.17590266e-02  1.05072529e-03  9.99495003e-01  3.31950682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.30650248099998
Centerline is valid?  [True, True]
Translation: X:103.17, Y:14.06, Z:3.32
[[ 9.76601409e-01 -2.12835273e-01 -3.08356072e-02  1.03170804e+02]
 [ 2.12698909e-01  9.77087647e-01 -7.67496109e-03  1.40645090e+01]
 [ 3.17625933e-02  9.36677809e-04  9.99495003e-01  3.32139223e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.36650248099998
Centerline is valid?  [True, True]
Translation: X:103.23, Y:14.08, Z:3.32
[[ 9.75782808e-01 -2.16557379e-01 -3.08352518e-02  1.03229244e+02]
 [ 2.16422825e-01  9.76269550e-01 -7.67638844e-03  1.40781472e+01]
 [ 3.17658960e-02  8.17035557e-04  9.99495003e-01  3.32329908e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 104.42650248099997
Centerline is valid?  [True, True]
Translation: X:103.29, Y:14.09, Z:3.33
[[ 9.74983187e-01 -2.20129528e-01 -3.08346717e-02  1.03287124e+02]
 [ 2.19996683e-01  9.75470398e-01 -7.67871823e-03  1.40923122e+01]
 [ 3.17686220e-02  7.03095677e-04  9.99495003e-01  3.32519222e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.48650248099997
Centerline is valid?  [True, True]
Translation: X:103.35, Y:14.11, Z:3.33
[[ 9.74097347e-01 -2.24016969e-01 -3.08343337e-02  1.03345043e+02]
 [ 2.23886026e-01  9.74585073e-01 -7.68007516e-03  1.41068945e+01]
 [ 3.17711485e-02  5.77764405e-04  9.99495003e-01  3.32709032e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.54650248099998
Centerline is valid?  [True, True]
Translation: X:103.40, Y:14.12, Z:3.33
[[ 9.73635328e-01 -2.26016661e-01 -3.08337128e-02  1.03400923e+02]
 [ 2.25886641e-01  9.74123300e-01 -7.68256686e-03  1.41220385e+01]
 [ 3.17722262e-02  5.15094694e-04  9.99495003e-01  3.32892921e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.60650248099998
Centerline is valid?  [True, True]
Translation: X:103.46, Y:14.14, Z:3.33
[[ 9.73658713e-01 -2.25916013e-01 -3.08328676e-02  1.03457984e+02]
 [ 2.25785835e-01  9.74146643e-01 -7.68595777e-03  1.41385792e+01]
 [ 3.17721154e-02  5.21875007e-04  9.99495003e-01  3.33081475e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.66650248099998
Centerline is valid?  [True, True]
Translation: X:103.52, Y:14.15, Z:3.33
[[ 9.73538968e-01 -2.26431544e-01 -3.08323651e-02  1.03515715e+02]
 [ 2.26301560e-01  9.74026950e-01 -7.68797294e-03  1.41528178e+01]
 [ 3.17723541e-02  5.07128913e-04  9.99495003e-01  3.33270403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.72650248099998
Centerline is valid?  [True, True]
Translation: X:103.57, Y:14.17, Z:3.33
[[ 9.73592236e-01 -2.26202700e-01 -3.08301390e-02  1.03572353e+02]
 [ 2.26072319e-01  9.74080112e-01 -7.69688946e-03  1.41677417e+01]
 [ 3.17720825e-02  5.23790771e-04  9.99495003e-01  3.33456105e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.78650248099999
Centerline is valid?  [True, True]
Translation: X:103.63, Y:14.18, Z:3.34
[[ 9.73910685e-01 -2.24828000e-01 -3.08277191e-02  1.03628161e+02]
 [ 2.24696625e-01  9.74398294e-01 -7.70656956e-03  1.41849718e+01]
 [ 3.17711296e-02  5.78625996e-04  9.99495003e-01  3.33640986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.84650248099997
Centerline is valid?  [True, True]
Translation: X:103.68, Y:14.20, Z:3.34
[[ 9.74255402e-01 -2.23329893e-01 -3.08248268e-02  1.03684326e+02]
 [ 2.23197403e-01  9.74742710e-01 -7.71812108e-03  1.42002604e+01]
 [ 3.17699623e-02  6.39399881e-04  9.99495003e-01  3.33825372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.90650248099998
Centerline is valid?  [True, True]
Translation: X:103.74, Y:14.22, Z:3.34
[[ 9.74501975e-01 -2.22251905e-01 -3.08219437e-02  1.03739089e+02]
 [ 2.22118512e-01  9.74989036e-01 -7.72961737e-03  1.42174387e+01]
 [ 3.17689794e-02  6.86403116e-04  9.99495003e-01  3.34006900e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.96650248099998
Centerline is valid?  [True, True]
Translation: X:103.80, Y:14.23, Z:3.34
[[ 9.73839146e-01 -2.25138605e-01 -3.08208881e-02  1.03796126e+02]
 [ 2.25006523e-01  9.74326564e-01 -7.73382427e-03  1.42325663e+01]
 [ 3.17707924e-02  5.96599959e-04  9.99495003e-01  3.34194257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.02650248099998
Centerline is valid?  [True, True]
Translation: X:103.85, Y:14.25, Z:3.34
[[ 9.72508016e-01 -2.30821099e-01 -3.08184854e-02  1.03851645e+02]
 [ 2.30691562e-01  9.72996117e-01 -7.74338683e-03  1.42478824e+01]
 [ 3.17736037e-02  4.20941233e-04  9.99495003e-01  3.34376787e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.08650248099998
Centerline is valid?  [True, True]
Translation: X:103.91, Y:14.26, Z:3.35
[[ 9.71793078e-01 -2.33812932e-01 -3.08176448e-02  1.03908352e+02]
 [ 2.33684791e-01  9.72281547e-01 -7.74673113e-03  1.42622145e+01]
 [ 3.17747132e-02  3.26604799e-04  9.99495003e-01  3.34562562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.14650248099998
Centerline is valid?  [True, True]
Translation: X:103.96, Y:14.28, Z:3.35
[[ 9.71534281e-01 -2.34886053e-01 -3.08169190e-02  1.03963958e+02]
 [ 2.34758361e-01  9.72022868e-01 -7.74961704e-03  1.42785054e+01]
 [ 3.17750270e-02  2.94489212e-04  9.99495003e-01  3.34746482e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.20650248099997
Centerline is valid?  [True, True]
Translation: X:104.02, Y:14.29, Z:3.35
[[ 9.71812040e-01 -2.33734316e-01 -3.08160284e-02  1.04021729e+02]
 [ 2.33605933e-01  9.72300446e-01 -7.75315702e-03  1.42946274e+01]
 [ 3.17746170e-02  3.35804272e-04  9.99495003e-01  3.34936912e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.26650248099997
Centerline is valid?  [True, True]
Translation: X:104.08, Y:14.31, Z:3.35
[[ 9.72042656e-01 -2.32773640e-01 -3.08140847e-02  1.04078283e+02]
 [ 2.32644529e-01  9.72530869e-01 -7.76087445e-03  1.43129665e+01]
 [ 3.17741755e-02  3.75172798e-04  9.99495003e-01  3.35125088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.32650248099998
Centerline is valid?  [True, True]
Translation: X:104.13, Y:14.33, Z:3.35
[[ 9.73240654e-01 -2.27713147e-01 -3.08115452e-02  1.04134647e+02]
 [ 2.27581179e-01  9.73728103e-01 -7.77094325e-03  1.43289521e+01]
 [ 3.17716134e-02  5.50870093e-04  9.99495003e-01  3.35310731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.38650248099998
Centerline is valid?  [True, True]
Translation: X:104.19, Y:14.34, Z:3.35
[[ 9.73546269e-01 -2.26403058e-01 -3.08110066e-02  1.04191956e+02]
 [ 2.26270367e-01  9.74033521e-01 -7.77307838e-03  1.43433416e+01]
 [ 3.17708019e-02  5.95833703e-04  9.99495003e-01  3.35498469e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.44650248099998
Centerline is valid?  [True, True]
Translation: X:104.25, Y:14.36, Z:3.36
[[ 9.73429639e-01 -2.26904061e-01 -3.08104835e-02  1.04247783e+02]
 [ 2.26771555e-01  9.73916942e-01 -7.77515099e-03  1.43601962e+01]
 [ 3.17710652e-02  5.81621164e-04  9.99495003e-01  3.35683563e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.50650248099998
Centerline is valid?  [True, True]
Translation: X:104.30, Y:14.38, Z:3.36
[[ 9.72781511e-01 -2.29666903e-01 -3.08098438e-02  1.04304985e+02]
 [ 2.29535701e-01  9.73269166e-01 -7.77768534e-03  1.43755176e+01]
 [ 3.17725478e-02  4.94029422e-04  9.99495003e-01  3.35871679e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.56650248099997
Centerline is valid?  [True, True]
Translation: X:104.36, Y:14.39, Z:3.36
[[ 9.72159951e-01 -2.32284172e-01 -3.08073609e-02  1.04360756e+02]
 [ 2.32153972e-01  9.72647875e-01 -7.78750767e-03  1.43914784e+01]
 [ 3.17736288e-02  4.18651887e-04  9.99495003e-01  3.36055493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 105.62650248099997
Centerline is valid?  [True, True]
Translation: X:104.42, Y:14.41, Z:3.36
[[ 9.71991868e-01 -2.32986627e-01 -3.08064919e-02  1.04418822e+02]
 [ 2.32856671e-01  9.72479857e-01 -7.79094363e-03  1.44070365e+01]
 [ 3.17738785e-02  3.99236709e-04  9.99495003e-01  3.36246411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.68650248099998
Centerline is valid?  [True, True]
Translation: X:104.47, Y:14.42, Z:3.36
[[ 9.72181937e-01 -2.32192462e-01 -3.08048922e-02  1.04474622e+02]
 [ 2.32061906e-01  9.72669766e-01 -7.79726355e-03  1.44236395e+01]
 [ 3.17734531e-02  4.31716773e-04  9.99495003e-01  3.36431006e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.74650248099998
Centerline is valid?  [True, True]
Translation: X:104.53, Y:14.44, Z:3.37
[[ 9.72817342e-01 -2.29516146e-01 -3.08019244e-02  1.04530712e+02]
 [ 2.29383878e-01  9.73304709e-01 -7.80897015e-03  1.44411261e+01]
 [ 3.17719428e-02  5.31236723e-04  9.99495003e-01  3.36616903e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.80650248099998
Centerline is valid?  [True, True]
Translation: X:104.59, Y:14.46, Z:3.37
[[ 9.74152064e-01 -2.23783449e-01 -3.08013816e-02  1.04588356e+02]
 [ 2.23648245e-01  9.74638625e-01 -7.81111037e-03  1.44574502e+01]
 [ 3.17682134e-02  7.20534339e-04  9.99495003e-01  3.36807191e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.86650248099998
Centerline is valid?  [True, True]
Translation: X:104.64, Y:14.48, Z:3.37
[[ 9.75514948e-01 -2.17765686e-01 -3.08008547e-02  1.04644195e+02]
 [ 2.17627416e-01  9.76000646e-01 -7.81318733e-03  1.44755915e+01]
 [ 3.17630982e-02  9.18770584e-04  9.99495003e-01  3.36993339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.92650248099997
Centerline is valid?  [True, True]
Translation: X:104.70, Y:14.49, Z:3.37
[[ 9.76814820e-01 -2.11859081e-01 -3.07983379e-02  1.04701641e+02]
 [ 2.11717563e-01  9.77299582e-01 -7.82309579e-03  1.44927297e+01]
 [ 3.17565966e-02  1.12116687e-03  9.99495003e-01  3.37183253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.98650248099997
Centerline is valid?  [True, True]
Translation: X:104.76, Y:14.51, Z:3.37
[[ 9.78058616e-01 -2.06040839e-01 -3.07979822e-02  1.04759824e+02]
 [ 2.05896394e-01  9.78542514e-01 -7.82449577e-03  1.45053678e+01]
 [ 3.17493006e-02  1.31162203e-03  9.99495003e-01  3.37372356e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.04650248099998
Centerline is valid?  [True, True]
Translation: X:104.82, Y:14.52, Z:3.38
[[ 9.78337423e-01 -2.04712974e-01 -3.07974733e-02  1.04815626e+02]
 [ 2.04567809e-01  9.78821106e-01 -7.82649844e-03  1.45243944e+01]
 [ 3.17474026e-02  1.35678468e-03  9.99495003e-01  3.37559093e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.10650248099998
Centerline is valid?  [True, True]
Translation: X:104.87, Y:14.54, Z:3.38
[[ 9.78447852e-01 -2.04184623e-01 -3.07967676e-02  1.04870291e+02]
 [ 2.04039110e-01  9.78931430e-01 -7.82927445e-03  1.45421554e+01]
 [ 3.17465411e-02  1.37679174e-03  9.99495003e-01  3.37741299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.16650248099998
Centerline is valid?  [True, True]
Translation: X:104.93, Y:14.56, Z:3.38
[[ 9.77059291e-01 -2.10729129e-01 -3.07957297e-02  1.04927994e+02]
 [ 2.10586727e-01  9.77543794e-01 -7.83335471e-03  1.45556816e+01]
 [ 3.17548904e-02  1.16848006e-03  9.99495003e-01  3.37929481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.22650248099998
Centerline is valid?  [True, True]
Translation: X:104.98, Y:14.57, Z:3.38
[[ 9.75092743e-01 -2.19649234e-01 -3.07953922e-02  1.04984892e+02]
 [ 2.19511224e-01  9.75578516e-01 -7.83468112e-03  1.45733553e+01]
 [ 3.17642047e-02  8.79606460e-04  9.99495003e-01  3.38118576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.28650248099997
Centerline is valid?  [True, True]
Translation: X:105.04, Y:14.59, Z:3.38
[[ 9.73443189e-01 -2.26848013e-01 -3.07950899e-02  1.05040181e+02]
 [ 2.26713558e-01  9.73929957e-01 -7.83586944e-03  1.45899619e+01]
 [ 3.17698120e-02  6.46109329e-04  9.99495003e-01  3.38301882e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.34650248099997
Centerline is valid?  [True, True]
Translation: X:105.10, Y:14.60, Z:3.38
[[ 9.72269227e-01 -2.31828333e-01 -3.07924250e-02  1.05095871e+02]
 [ 2.31696041e-01  9.72756588e-01 -7.84632741e-03  1.46032997e+01]
 [ 3.17725353e-02  4.94259702e-04  9.99495003e-01  3.38483394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.40650248099998
Centerline is valid?  [True, True]
Translation: X:105.15, Y:14.62, Z:3.39
[[ 9.71821122e-01 -2.33699815e-01 -3.07912791e-02  1.05152969e+02]
 [ 2.33568319e-01  9.72308698e-01 -7.85082172e-03  1.46201318e+01]
 [ 3.17733641e-02  4.37727068e-04  9.99495003e-01  3.38672288e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.46650248099998
Centerline is valid?  [True, True]
Translation: X:105.21, Y:14.63, Z:3.39
[[ 9.71832647e-01 -2.33651939e-01 -3.07908850e-02  1.05210550e+02]
 [ 2.33520370e-01  9.72320203e-01 -7.85236705e-03  1.46327099e+01]
 [ 3.17733204e-02  4.40887783e-04  9.99495003e-01  3.38859477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.52650248099998
Centerline is valid?  [True, True]
Translation: X:105.27, Y:14.65, Z:3.39
[[ 9.71967080e-01 -2.33092400e-01 -3.07884463e-02  1.05267210e+02]
 [ 2.32960248e-01  9.72454479e-01 -7.86191761e-03  1.46470399e+01]
 [ 3.17729157e-02  4.69041039e-04  9.99495003e-01  3.39044799e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.58650248099998
Centerline is valid?  [True, True]
Translation: X:105.32, Y:14.66, Z:3.39
[[ 9.72428238e-01 -2.31161064e-01 -3.07877195e-02  1.05323500e+02]
 [ 2.31027854e-01  9.72915349e-01 -7.86476257e-03  1.46635025e+01]
 [ 3.17718718e-02  5.35096452e-04  9.99495003e-01  3.39231001e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.64650248099998
Centerline is valid?  [True, True]
Translation: X:105.38, Y:14.68, Z:3.39
[[ 9.73103696e-01 -2.28301255e-01 -3.07852927e-02  1.05380947e+02]
 [ 2.28166313e-01  9.73590330e-01 -7.87425060e-03  1.46757875e+01]
 [ 3.17699645e-02  6.38295630e-04  9.99495003e-01  3.39417141e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.70650248099997
Centerline is valid?  [True, True]
Translation: X:105.44, Y:14.69, Z:3.40
[[ 9.73986555e-01 -2.24505274e-01 -3.07826789e-02  1.05436635e+02]
 [ 2.24368114e-01  9.74472568e-01 -7.88445548e-03  1.46923611e+01]
 [ 3.17669779e-02  7.72702032e-04  9.99495004e-01  3.39601204e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.76650248099997
Centerline is valid?  [True, True]
Translation: X:105.49, Y:14.71, Z:3.40
[[ 9.74963611e-01 -2.20223613e-01 -3.07817679e-02  1.05494009e+02]
 [ 2.20084206e-01  9.75448985e-01 -7.88801023e-03  1.47067783e+01]
 [ 3.17631704e-02  9.15941980e-04  9.99495004e-01  3.39789097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 106.82650248099998
Centerline is valid?  [True, True]
Translation: X:105.55, Y:14.72, Z:3.40
[[ 9.76044607e-01 -2.15382110e-01 -3.07810266e-02  1.05550786e+02]
 [ 2.15240205e-01  9.76529256e-01 -7.89090200e-03  1.47216381e+01]
 [ 3.17581321e-02  1.07655787e-03  9.99495004e-01  3.39975536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.88650248099998
Centerline is valid?  [True, True]
Translation: X:105.61, Y:14.74, Z:3.40
[[ 9.76218914e-01 -2.14590758e-01 -3.07805011e-02  1.05608346e+02]
 [ 2.14448396e-01  9.76703428e-01 -7.89295128e-03  1.47356080e+01]
 [ 3.17571754e-02  1.10441922e-03  9.99495004e-01  3.40163725e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.94650248099998
Centerline is valid?  [True, True]
Translation: X:105.67, Y:14.75, Z:3.40
[[ 9.75618163e-01 -2.17306048e-01 -3.07779384e-02  1.05665848e+02]
 [ 2.17164720e-01  9.76102980e-01 -7.90293193e-03  1.47478297e+01]
 [ 3.17597923e-02  1.02636157e-03  9.99495004e-01  3.40349951e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.00650248099998
Centerline is valid?  [True, True]
Translation: X:105.72, Y:14.76, Z:3.41
[[ 9.74711359e-01 -2.21338296e-01 -3.07753971e-02  1.05723941e+02]
 [ 2.21198662e-01  9.75196667e-01 -7.91281567e-03  1.47590785e+01]
 [ 3.17634738e-02  9.05234638e-04  9.99495004e-01  3.40537223e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.06650248099997
Centerline is valid?  [True, True]
Translation: X:105.78, Y:14.77, Z:3.41
[[ 9.73641693e-01 -2.25997240e-01 -3.07750192e-02  1.05780281e+02]
 [ 2.25859882e-01  9.74127650e-01 -7.91428512e-03  1.47743422e+01]
 [ 3.17674037e-02  7.54835737e-04  9.99495004e-01  3.40722708e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.12650248099997
Centerline is valid?  [True, True]
Translation: X:105.84, Y:14.78, Z:3.41
[[ 9.73245851e-01 -2.27696266e-01 -3.07721318e-02  1.05838193e+02]
 [ 2.27559402e-01  9.73731947e-01 -7.92549608e-03  1.47842836e+01]
 [ 3.17684137e-02  7.10968269e-04  9.99495004e-01  3.40908312e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.18650248099998
Centerline is valid?  [True, True]
Translation: X:105.89, Y:14.80, Z:3.41
[[ 9.72905810e-01 -2.29145178e-01 -3.07696508e-02  1.05893951e+02]
 [ 2.29008734e-01  9.73392025e-01 -7.93511671e-03  1.47986939e+01]
 [ 3.17692264e-02  6.73602379e-04  9.99495004e-01  3.41090905e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.24650248099998
Centerline is valid?  [True, True]
Translation: X:105.95, Y:14.81, Z:3.41
[[ 9.72480163e-01 -2.30945047e-01 -3.07687825e-02  1.05951487e+02]
 [ 2.30809396e-01  9.72966599e-01 -7.93848187e-03  1.48126730e+01]
 [ 3.17703508e-02  6.18292016e-04  9.99495004e-01  3.41278956e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.30650248099998
Centerline is valid?  [True, True]
Translation: X:106.01, Y:14.83, Z:3.41
[[ 9.72752198e-01 -2.29796593e-01 -3.07682976e-02  1.06009046e+02]
 [ 2.29660308e-01  9.73238457e-01 -7.94036084e-03  1.48288743e+01]
 [ 3.17695584e-02  6.57746740e-04  9.99495004e-01  3.41468915e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.36650248099998
Centerline is valid?  [True, True]
Translation: X:106.06, Y:14.84, Z:3.42
[[ 9.72842965e-01 -2.29412062e-01 -3.07680203e-02  1.06064421e+02]
 [ 2.29275551e-01  9.73329161e-01 -7.94143545e-03  1.48446441e+01]
 [ 3.17692724e-02  6.71414798e-04  9.99495004e-01  3.41651853e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.42650248099997
Centerline is valid?  [True, True]
Translation: X:106.12, Y:14.86, Z:3.42
[[ 9.72842673e-01 -2.29413415e-01 -3.07671632e-02  1.06122115e+02]
 [ 2.29276800e-01  9.73328840e-01 -7.94475437e-03  1.48594042e+01]
 [ 3.17692005e-02  6.74799347e-04  9.99495004e-01  3.41841012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.48650248099997
Centerline is valid?  [True, True]
Translation: X:106.18, Y:14.88, Z:3.42
[[ 9.72595827e-01 -2.30457756e-01 -3.07665357e-02  1.06178615e+02]
 [ 2.30321587e-01  9.73082118e-01 -7.94718373e-03  1.48753184e+01]
 [ 3.17698559e-02  6.43200411e-04  9.99495004e-01  3.42027458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.54650248099998
Centerline is valid?  [True, True]
Translation: X:106.24, Y:14.89, Z:3.42
[[ 9.72007507e-01 -2.32926734e-01 -3.07659447e-02  1.06235206e+02]
 [ 2.32791727e-01  9.72494122e-01 -7.94947125e-03  1.48908100e+01]
 [ 3.17713447e-02  5.64888328e-04  9.99495004e-01  3.42213858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.60650248099998
Centerline is valid?  [True, True]
Translation: X:106.29, Y:14.91, Z:3.42
[[ 9.71304903e-01 -2.35839539e-01 -3.07651959e-02  1.06291249e+02]
 [ 2.35705900e-01  9.71791896e-01 -7.95236785e-03  1.49083713e+01]
 [ 3.17728508e-02  4.72635699e-04  9.99495004e-01  3.42400185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.66650248099998
Centerline is valid?  [True, True]
Translation: X:106.35, Y:14.92, Z:3.43
[[ 9.70851667e-01 -2.37698493e-01 -3.07647013e-02  1.06348302e+02]
 [ 2.37565726e-01  9.71338898e-01 -7.95428102e-03  1.49238437e+01]
 [ 3.17736717e-02  4.13788405e-04  9.99495004e-01  3.42588009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.72650248099998
Centerline is valid?  [True, True]
Translation: X:106.40, Y:14.94, Z:3.43
[[ 9.70973949e-01 -2.37198552e-01 -3.07642270e-02  1.06404632e+02]
 [ 2.37065476e-01  9.71461096e-01 -7.95611491e-03  1.49416844e+01]
 [ 3.17734286e-02  4.32044179e-04  9.99495004e-01  3.42775501e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.78650248099997
Centerline is valid?  [True, True]
Translation: X:106.46, Y:14.96, Z:3.43
[[ 9.72202250e-01 -2.32112863e-01 -3.07636813e-02  1.06461010e+02]
 [ 2.31977172e-01  9.72688675e-01 -7.95822443e-03  1.49609737e+01]
 [ 3.17706906e-02  6.00531913e-04  9.99495004e-01  3.42964278e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.84650248099997
Centerline is valid?  [True, True]
Translation: X:106.52, Y:14.98, Z:3.43
[[ 9.73900759e-01 -2.24879874e-01 -3.07628742e-02  1.06516067e+02]
 [ 2.24740473e-01  9.74386133e-01 -7.96134302e-03  1.49809989e+01]
 [ 3.17652639e-02  8.39895110e-04  9.99495004e-01  3.43149527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.90650248099998
Centerline is valid?  [True, True]
Translation: X:106.57, Y:15.00, Z:3.43
[[ 9.74917055e-01 -2.20432365e-01 -3.07621346e-02  1.06571841e+02]
 [ 2.20290659e-01  9.75401762e-01 -7.96419977e-03  1.50010705e+01]
 [ 3.17610077e-02  9.87823262e-04  9.99495004e-01  3.43337039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.96650248099998
Centerline is valid?  [True, True]
Translation: X:106.63, Y:15.02, Z:3.44
[[ 9.75274838e-01 -2.18844330e-01 -3.07595472e-02  1.06628484e+02]
 [ 2.18701522e-01  9.75759221e-01 -7.97418042e-03  1.50174813e+01]
 [ 3.17590160e-02  1.04985774e-03  9.99495004e-01  3.43523958e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 108.02650248099998
Centerline is valid?  [True, True]
Translation: X:106.69, Y:15.03, Z:3.44
[[ 9.75204225e-01 -2.19158853e-01 -3.07590064e-02  1.06685333e+02]
 [ 2.19016135e-01  9.75688635e-01 -7.97626605e-03  1.50342646e+01]
 [ 3.17592822e-02  1.04176967e-03  9.99495004e-01  3.43712197e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.08650248099998
Centerline is valid?  [True, True]
Translation: X:106.74, Y:15.05, Z:3.44
[[ 9.74858348e-01 -2.20692359e-01 -3.07584657e-02  1.06742116e+02]
 [ 2.20550337e-01  9.75342963e-01 -7.97835054e-03  1.50492712e+01]
 [ 3.17608140e-02  9.93971650e-04  9.99495004e-01  3.43898820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.14650248099998
Centerline is valid?  [True, True]
Translation: X:106.80, Y:15.07, Z:3.44
[[ 9.74467773e-01 -2.22410658e-01 -3.07580701e-02  1.06798089e+02]
 [ 2.22269442e-01  9.74952623e-01 -7.97987532e-03  1.50657162e+01]
 [ 3.17624704e-02  9.39552243e-04  9.99495004e-01  3.44084124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.20650248099997
Centerline is valid?  [True, True]
Translation: X:106.85, Y:15.08, Z:3.44
[[ 9.73866757e-01 -2.25027851e-01 -3.07572019e-02  1.06854916e+02]
 [ 2.24887834e-01  9.74351954e-01 -7.98322031e-03  1.50793982e+01]
 [ 3.17647867e-02  8.57672378e-04  9.99495004e-01  3.44269760e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.26650248099997
Centerline is valid?  [True, True]
Translation: X:106.91, Y:15.09, Z:3.44
[[ 9.73019195e-01 -2.28665231e-01 -3.07548116e-02  1.06913042e+02]
 [ 2.28526737e-01  9.73504829e-01 -7.99241808e-03  1.50940783e+01]
 [ 3.17675457e-02  7.48479458e-04  9.99495004e-01  3.44459903e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.32650248099998
Centerline is valid?  [True, True]
Translation: X:106.97, Y:15.11, Z:3.45
[[ 9.72194022e-01 -2.32148538e-01 -3.07545145e-02  1.06969335e+02]
 [ 2.32011748e-01  9.72680139e-01 -7.99356103e-03  1.51096365e+01]
 [ 3.17699990e-02  6.35883582e-04  9.99495004e-01  3.44645504e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.38650248099998
Centerline is valid?  [True, True]
Translation: X:107.03, Y:15.12, Z:3.45
[[ 9.72009953e-01 -2.32918103e-01 -3.07539857e-02  1.07025921e+02]
 [ 2.32781633e-01  9.72496160e-01 -7.99559501e-03  1.51247563e+01]
 [ 3.17704519e-02  6.12834912e-04  9.99495004e-01  3.44831612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.44650248099998
Centerline is valid?  [True, True]
Translation: X:107.08, Y:15.14, Z:3.45
[[ 9.71745252e-01 -2.34020310e-01 -3.07515714e-02  1.07082031e+02]
 [ 2.33884099e-01  9.72231531e-01 -8.00486996e-03  1.51391206e+01]
 [ 3.17709495e-02  5.86390821e-04  9.99495004e-01  3.45015298e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.50650248099998
Centerline is valid?  [True, True]
Translation: X:107.14, Y:15.15, Z:3.45
[[ 9.71418954e-01 -2.35371486e-01 -3.07486579e-02  1.07139448e+02]
 [ 2.35235597e-01  9.71905323e-01 -8.01604582e-03  1.51538649e+01]
 [ 3.17715329e-02  5.53759952e-04  9.99495004e-01  3.45203212e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.56650248099997
Centerline is valid?  [True, True]
Translation: X:107.20, Y:15.17, Z:3.45
[[ 9.71384498e-01 -2.35513973e-01 -3.07461549e-02  1.07196226e+02]
 [ 2.35377852e-01  9.71870802e-01 -8.02563462e-03  1.51706500e+01]
 [ 3.17714394e-02  5.59013165e-04  9.99495004e-01  3.45390880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.62650248099997
Centerline is valid?  [True, True]
Translation: X:107.25, Y:15.19, Z:3.46
[[ 9.70979967e-01 -2.37176311e-01 -3.07457501e-02  1.07252825e+02]
 [ 2.37040973e-01  9.71466490e-01 -8.02718532e-03  1.51862325e+01]
 [ 3.17723241e-02  5.06233620e-04  9.99495004e-01  3.45577424e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.68650248099998
Centerline is valid?  [True, True]
Translation: X:107.31, Y:15.20, Z:3.46
[[ 9.71053206e-01 -2.36876598e-01 -3.07432522e-02  1.07310165e+02]
 [ 2.36740808e-01  9.71539603e-01 -8.03674071e-03  1.51994306e+01]
 [ 3.17720028e-02  5.25920471e-04  9.99495004e-01  3.45763940e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.74650248099998
Centerline is valid?  [True, True]
Translation: X:107.37, Y:15.22, Z:3.46
[[ 9.71454582e-01 -2.35225439e-01 -3.07406657e-02  1.07367405e+02]
 [ 2.35088509e-01  9.71940659e-01 -8.04662189e-03  1.52150219e+01]
 [ 3.17708730e-02  5.90150435e-04  9.99495004e-01  3.45952056e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.80650248099998
Centerline is valid?  [True, True]
Translation: X:107.42, Y:15.23, Z:3.46
[[ 9.72376095e-01 -2.31386877e-01 -3.07383044e-02  1.07424618e+02]
 [ 2.31247744e-01  9.72861546e-01 -8.05563193e-03  1.52307292e+01]
 [ 3.17680819e-02  7.24940365e-04  9.99495004e-01  3.46140228e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.86650248099998
Centerline is valid?  [True, True]
Translation: X:107.48, Y:15.24, Z:3.46
[[ 9.73474648e-01 -2.26720732e-01 -3.07379259e-02  1.07481439e+02]
 [ 2.26579226e-01  9.73959413e-01 -8.05707614e-03  1.52449789e+01]
 [ 3.17641984e-02  8.78783895e-04  9.99495004e-01  3.46326389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.92650248099997
Centerline is valid?  [True, True]
Translation: X:107.54, Y:15.26, Z:3.47
[[ 9.74322055e-01 -2.23051258e-01 -3.07354653e-02  1.07539206e+02]
 [ 2.22907632e-01  9.74806196e-01 -8.06645164e-03  1.52604541e+01]
 [ 3.17603542e-02  1.00815197e-03  9.99495004e-01  3.46516058e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.98650248099997
Centerline is valid?  [True, True]
Translation: X:107.59, Y:15.27, Z:3.47
[[ 9.74955753e-01 -2.20264920e-01 -3.07350821e-02  1.07594540e+02]
 [ 2.20119865e-01  9.75439467e-01 -8.06791147e-03  1.52740399e+01]
 [ 3.17572900e-02  1.10045459e-03  9.99495004e-01  3.46697108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.04650248099998
Centerline is valid?  [True, True]
Translation: X:107.65, Y:15.29, Z:3.47
[[ 9.75619255e-01 -2.17307393e-01 -3.07338039e-02  1.07651117e+02]
 [ 2.17160718e-01  9.76102481e-01 -8.07277762e-03  1.52870221e+01]
 [ 3.17536165e-02  1.20178237e-03  9.99495004e-01  3.46881325e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.10650248099998
Centerline is valid?  [True, True]
Translation: X:107.71, Y:15.30, Z:3.47
[[ 9.75787008e-01 -2.16553283e-01 -3.07309570e-02  1.07708513e+02]
 [ 2.16405894e-01  9.76270016e-01 -8.08360066e-03  1.53023077e+01]
 [ 3.17522421e-02  1.23751228e-03  9.99495004e-01  3.47069627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.16650248099998
Centerline is valid?  [True, True]
Translation: X:107.77, Y:15.31, Z:3.47
[[ 9.74585819e-01 -2.21896645e-01 -3.07304370e-02  1.07766085e+02]
 [ 2.21751843e-01  9.75069610e-01 -8.08557690e-03  1.53142188e+01]
 [ 3.17584776e-02  1.06555754e-03  9.99495004e-01  3.47256174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 109.22650248099998
Centerline is valid?  [True, True]
Translation: X:107.82, Y:15.33, Z:3.47
[[ 9.72985681e-01 -2.28811389e-01 -3.07280453e-02  1.07824846e+02]
 [ 2.28669740e-01  9.73470404e-01 -8.09465593e-03  1.53265959e+01]
 [ 3.17649921e-02  8.49410198e-04  9.99495004e-01  3.47446399e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.28650248099997
Centerline is valid?  [True, True]
Translation: X:107.88, Y:15.34, Z:3.48
[[ 9.72056559e-01 -2.32727013e-01 -3.07275664e-02  1.07882890e+02]
 [ 2.32587259e-01  9.72541832e-01 -8.09647339e-03  1.53386847e+01]
 [ 3.17681118e-02  7.23389616e-04  9.99495004e-01  3.47634547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.34650248099997
Centerline is valid?  [True, True]
Translation: X:107.94, Y:15.35, Z:3.48
[[ 9.71339261e-01 -2.35703225e-01 -3.07250668e-02  1.07941048e+02]
 [ 2.35564658e-01  9.71824874e-01 -8.10594814e-03  1.53522328e+01]
 [ 3.17699823e-02  6.35885813e-04  9.99495004e-01  3.47823838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.40650248099998
Centerline is valid?  [True, True]
Translation: X:108.00, Y:15.37, Z:3.48
[[ 9.71072794e-01 -2.36798688e-01 -3.07247326e-02  1.07998581e+02]
 [ 2.36660629e-01  9.71558552e-01 -8.10721476e-03  1.53660408e+01]
 [ 3.17706545e-02  6.01361156e-04  9.99495004e-01  3.48011833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.46650248099998
Centerline is valid?  [True, True]
Translation: X:108.06, Y:15.38, Z:3.48
[[ 9.71206734e-01 -2.36248819e-01 -3.07241704e-02  1.08056874e+02]
 [ 2.36110418e-01  9.71692394e-01 -8.10934468e-03  1.53804351e+01]
 [ 3.17702658e-02  6.21553462e-04  9.99495004e-01  3.48202595e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.52650248099998
Centerline is valid?  [True, True]
Translation: X:108.11, Y:15.39, Z:3.48
[[ 9.71683175e-01 -2.34281787e-01 -3.07221613e-02  1.08112859e+02]
 [ 2.34142162e-01  9.72168485e-01 -8.11694912e-03  1.53940925e+01]
 [ 3.17687703e-02  6.93749642e-04  9.99495004e-01  3.48385383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.58650248099998
Centerline is valid?  [True, True]
Translation: X:108.17, Y:15.41, Z:3.49
[[ 9.71732061e-01 -2.34079067e-01 -3.07212112e-02  1.08169657e+02]
 [ 2.33939227e-01  9.72217308e-01 -8.12054321e-03  1.54082302e+01]
 [ 3.17685425e-02  7.04095766e-04  9.99495004e-01  3.48571268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.64650248099998
Centerline is valid?  [True, True]
Translation: X:108.23, Y:15.42, Z:3.49
[[ 9.72570564e-01 -2.30570724e-01 -3.07187244e-02  1.08226093e+02]
 [ 2.30428837e-01  9.73055217e-01 -8.12993959e-03  1.54214984e+01]
 [ 3.17655411e-02  8.28459985e-04  9.99495005e-01  3.48755029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.70650248099997
Centerline is valid?  [True, True]
Translation: X:108.28, Y:15.44, Z:3.49
[[ 9.72742772e-01 -2.29843516e-01 -3.07157428e-02  1.08281919e+02]
 [ 2.29700912e-01  9.73227215e-01 -8.14118868e-03  1.54361856e+01]
 [ 3.17645963e-02  8.63848293e-04  9.99495005e-01  3.48937978e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.76650248099997
Centerline is valid?  [True, True]
Translation: X:108.34, Y:15.45, Z:3.49
[[ 9.73094000e-01 -2.28352066e-01 -3.07148329e-02  1.08339072e+02]
 [ 2.28208612e-01  9.73578191e-01 -8.14462026e-03  1.54497391e+01]
 [ 3.17631323e-02  9.16091737e-04  9.99495005e-01  3.49124481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.82650248099998
Centerline is valid?  [True, True]
Translation: X:108.40, Y:15.46, Z:3.49
[[ 9.73614180e-01 -2.26124280e-01 -3.07121885e-02  1.08396190e+02]
 [ 2.25979404e-01  9.74097948e-01 -8.15457959e-03  1.54635128e+01]
 [ 3.17606283e-02  9.99092259e-04  9.99495005e-01  3.49310714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.88650248099998
Centerline is valid?  [True, True]
Translation: X:108.45, Y:15.48, Z:3.49
[[ 9.73245229e-01 -2.27707373e-01 -3.07095518e-02  1.08451760e+02]
 [ 2.27562972e-01  9.73729138e-01 -8.16449718e-03  1.54805798e+01]
 [ 3.17619016e-02  9.57701051e-04  9.99495005e-01  3.49494884e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.94650248099998
Centerline is valid?  [True, True]
Translation: X:108.51, Y:15.49, Z:3.50
[[ 9.73203036e-01 -2.27887759e-01 -3.07086319e-02  1.08508349e+02]
 [ 2.27743338e-01  9.73686940e-01 -8.16795575e-03  1.54933829e+01]
 [ 3.17619710e-02  9.55393010e-04  9.99495005e-01  3.49679035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.00650248099998
Centerline is valid?  [True, True]
Translation: X:108.56, Y:15.51, Z:3.50
[[ 9.72145295e-01 -2.32358952e-01 -3.07057288e-02  1.08563531e+02]
 [ 2.32216413e-01  9.72629757e-01 -8.17885479e-03  1.55104346e+01]
 [ 3.17657357e-02  8.20660998e-04  9.99495005e-01  3.49861950e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.06650248099997
Centerline is valid?  [True, True]
Translation: X:108.62, Y:15.53, Z:3.50
[[ 9.71176976e-01 -2.36373895e-01 -3.07028151e-02  1.08621237e+02]
 [ 2.36233014e-01  9.71661922e-01 -8.18977808e-03  1.55257105e+01]
 [ 3.17686061e-02  7.00705361e-04  9.99495005e-01  3.50051166e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.12650248099997
Centerline is valid?  [True, True]
Translation: X:108.68, Y:15.54, Z:3.50
[[ 9.70592082e-01 -2.38764464e-01 -3.07008417e-02  1.08678119e+02]
 [ 2.38624544e-01  9.71077306e-01 -8.19716911e-03  1.55414225e+01]
 [ 3.17700833e-02  6.30133083e-04  9.99495005e-01  3.50238394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.18650248099998
Centerline is valid?  [True, True]
Translation: X:108.73, Y:15.56, Z:3.50
[[ 9.69393381e-01 -2.43585897e-01 -3.06982509e-02  1.08733672e+02]
 [ 2.43448084e-01  9.69879208e-01 -8.20686021e-03  1.55615146e+01]
 [ 3.17726707e-02  4.82245629e-04  9.99495005e-01  3.50425018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.24650248099998
Centerline is valid?  [True, True]
Translation: X:108.79, Y:15.58, Z:3.51
[[ 9.69676658e-01 -2.42456101e-01 -3.06955577e-02  1.08790692e+02]
 [ 2.42317403e-01  9.70162233e-01 -8.21692092e-03  1.55774888e+01]
 [ 3.17719134e-02  5.29688587e-04  9.99495005e-01  3.50612749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.30650248099998
Centerline is valid?  [True, True]
Translation: X:108.85, Y:15.60, Z:3.51
[[ 9.69724840e-01 -2.42263370e-01 -3.06951809e-02  1.08846669e+02]
 [ 2.42124531e-01  9.70210374e-01 -8.21832848e-03  1.55976189e+01]
 [ 3.17717829e-02  5.37461013e-04  9.99495005e-01  3.50801141e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.36650248099998
Centerline is valid?  [True, True]
Translation: X:108.90, Y:15.61, Z:3.51
[[ 9.70104278e-01 -2.40739823e-01 -3.06924805e-02  1.08902891e+02]
 [ 2.40599903e-01  9.70589501e-01 -8.22840111e-03  1.56141044e+01]
 [ 3.17707031e-02  5.97799298e-04  9.99495005e-01  3.50986851e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 110.42650248099997
Centerline is valid?  [True, True]
Translation: X:108.96, Y:15.63, Z:3.51
[[ 9.71197570e-01 -2.36290966e-01 -3.06897385e-02  1.08959026e+02]
 [ 2.36148501e-01  9.71682052e-01 -8.23861517e-03  1.56337456e+01]
 [ 3.17673784e-02  7.53987292e-04  9.99495005e-01  3.51174889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.48650248099997
Centerline is valid?  [True, True]
Translation: X:109.01, Y:15.65, Z:3.51
[[ 9.72068266e-01 -2.32683168e-01 -3.06892352e-02  1.09014863e+02]
 [ 2.32538845e-01  9.72552199e-01 -8.24048951e-03  1.56513956e+01]
 [ 3.17643064e-02  8.73879034e-04  9.99495005e-01  3.51360793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.54650248099998
Centerline is valid?  [True, True]
Translation: X:109.07, Y:15.67, Z:3.52
[[ 9.72709324e-01 -2.29988761e-01 -3.06877872e-02  1.09070954e+02]
 [ 2.29842928e-01  9.73192804e-01 -8.24587843e-03  1.56680488e+01]
 [ 3.17615931e-02  9.67471963e-04  9.99495005e-01  3.51546484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.60650248099998
Centerline is valid?  [True, True]
Translation: X:109.13, Y:15.68, Z:3.52
[[ 9.73752958e-01 -2.25529650e-01 -3.06847579e-02  1.09126752e+02]
 [ 2.25381249e-01  9.74235655e-01 -8.25713586e-03  1.56836097e+01]
 [ 3.17564142e-02  1.12464140e-03  9.99495005e-01  3.51730084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.66650248099998
Centerline is valid?  [True, True]
Translation: X:109.18, Y:15.70, Z:3.52
[[ 9.73992127e-01 -2.24494630e-01 -3.06838344e-02  1.09182765e+02]
 [ 2.24345608e-01  9.74474633e-01 -8.26056621e-03  1.57005217e+01]
 [ 3.17550710e-02  1.16194297e-03  9.99495005e-01  3.51915848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.72650248099998
Centerline is valid?  [True, True]
Translation: X:109.24, Y:15.71, Z:3.52
[[ 9.73771733e-01 -2.25449056e-01 -3.06811968e-02  1.09238980e+02]
 [ 2.25300199e-01  9.74254290e-01 -8.27035114e-03  1.57149216e+01]
 [ 3.17558304e-02  1.14095441e-03  9.99495005e-01  3.52099842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.78650248099997
Centerline is valid?  [True, True]
Translation: X:109.30, Y:15.73, Z:3.52
[[ 9.72849610e-01 -2.29395694e-01 -3.06798175e-02  1.09296236e+02]
 [ 2.29248634e-01  9.73332718e-01 -8.27546447e-03  1.57308216e+01]
 [ 3.17600261e-02  1.01747612e-03  9.99495005e-01  3.52288501e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.84650248099997
Centerline is valid?  [True, True]
Translation: X:109.35, Y:15.75, Z:3.52
[[ 9.71242006e-01 -2.36109600e-01 -3.06793472e-02  1.09353386e+02]
 [ 2.35965826e-01  9.71726102e-01 -8.27720780e-03  1.57468711e+01]
 [ 3.17662507e-02  7.99894401e-04  9.99495005e-01  3.52477128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.90650248099998
Centerline is valid?  [True, True]
Translation: X:109.41, Y:15.76, Z:3.53
[[ 9.68879290e-01 -2.45625432e-01 -3.06768300e-02  1.09411842e+02]
 [ 2.45486118e-01  9.69364689e-01 -8.28652660e-03  1.57600136e+01]
 [ 3.17724174e-02  4.97908116e-04  9.99495005e-01  3.52666979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.96650248099998
Centerline is valid?  [True, True]
Translation: X:109.47, Y:15.78, Z:3.53
[[ 9.66609950e-01 -2.54409634e-01 -3.06747910e-02  1.09468666e+02]
 [ 2.54274492e-01  9.67096526e-01 -8.29406756e-03  1.57764826e+01]
 [ 3.17755745e-02  2.17311329e-04  9.99495005e-01  3.52854668e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.02650248099998
Centerline is valid?  [True, True]
Translation: X:109.53, Y:15.79, Z:3.53
[[ 9.65974819e-01 -2.56810954e-01 -3.06721686e-02  1.09526335e+02]
 [ 2.56676715e-01  9.66461645e-01 -8.30375408e-03  1.57902366e+01]
 [ 3.17759695e-02  1.48385878e-04  9.99495005e-01  3.53042587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.08650248099998
Centerline is valid?  [True, True]
Translation: X:109.58, Y:15.81, Z:3.53
[[ 9.66455777e-01 -2.54995061e-01 -3.06716594e-02  1.09583448e+02]
 [ 2.54859848e-01  9.66942333e-01 -8.30563453e-03  1.58080912e+01]
 [ 3.17756217e-02  2.10054032e-04  9.99495005e-01  3.53232593e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.14650248099997
Centerline is valid?  [True, True]
Translation: X:109.64, Y:15.83, Z:3.53
[[ 9.67157765e-01 -2.52319509e-01 -3.06712062e-02  1.09639412e+02]
 [ 2.52182896e-01  9.67643930e-01 -8.30730779e-03  1.58256225e+01]
 [ 3.17749023e-02  2.99723642e-04  9.99495005e-01  3.53418816e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.20650248099997
Centerline is valid?  [True, True]
Translation: X:109.70, Y:15.84, Z:3.54
[[ 9.67733049e-01 -2.50104083e-01 -3.06707163e-02  1.09696890e+02]
 [ 2.49966299e-01  9.68218884e-01 -8.30911599e-03  1.58414043e+01]
 [ 3.17741106e-02  3.74360701e-04  9.99495005e-01  3.53608224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.26650248099997
Centerline is valid?  [True, True]
Translation: X:109.75, Y:15.86, Z:3.54
[[ 9.68216800e-01 -2.48224818e-01 -3.06703230e-02  1.09753846e+02]
 [ 2.48086046e-01  9.68702353e-01 -8.31056766e-03  1.58561051e+01]
 [ 3.17733032e-02  4.37552082e-04  9.99495005e-01  3.53795151e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.32650248099998
Centerline is valid?  [True, True]
Translation: X:109.81, Y:15.87, Z:3.54
[[ 9.68213412e-01 -2.48238376e-01 -3.06675188e-02  1.09808358e+02]
 [ 2.48099283e-01  9.68698874e-01 -8.32090256e-03  1.58736847e+01]
 [ 3.17731583e-02  4.47820007e-04  9.99495005e-01  3.53976535e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.38650248099998
Centerline is valid?  [True, True]
Translation: X:109.87, Y:15.89, Z:3.54
[[ 9.69158819e-01 -2.44521514e-01 -3.06661494e-02  1.09866314e+02]
 [ 2.44380400e-01  9.69643697e-01 -8.32594632e-03  1.58850414e+01]
 [ 3.17711115e-02  5.74958424e-04  9.99495005e-01  3.54163568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.44650248099998
Centerline is valid?  [True, True]
Translation: X:109.92, Y:15.90, Z:3.54
[[ 9.69003416e-01 -2.45136698e-01 -3.06655950e-02  1.09923494e+02]
 [ 2.44995828e-01  9.69488365e-01 -8.32798795e-03  1.59014333e+01]
 [ 3.17714330e-02  5.56905943e-04  9.99495005e-01  3.54352559e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.50650248099998
Centerline is valid?  [True, True]
Translation: X:109.98, Y:15.92, Z:3.55
[[ 9.69455359e-01 -2.43343549e-01 -3.06630595e-02  1.09981532e+02]
 [ 2.43201487e-01  9.69939960e-01 -8.33731310e-03  1.59154968e+01]
 [ 3.17701580e-02  6.25351215e-04  9.99495005e-01  3.54541880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.56650248099997
Centerline is valid?  [True, True]
Translation: X:110.04, Y:15.93, Z:3.55
[[ 9.69855580e-01 -2.41743771e-01 -3.06610919e-02  1.10038235e+02]
 [ 2.41600680e-01  9.70339879e-01 -8.34454273e-03  1.59313945e+01]
 [ 3.17689214e-02  6.85260662e-04  9.99495006e-01  3.54728737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 111.62650248099997
Centerline is valid?  [True, True]
Translation: X:110.09, Y:15.95, Z:3.55
[[ 9.70741232e-01 -2.38162525e-01 -3.06605882e-02  1.10094859e+02]
 [ 2.38017590e-01  9.71224982e-01 -8.34639324e-03  1.59499232e+01]
 [ 3.17661273e-02  8.04428769e-04  9.99495006e-01  3.54917821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.68650248099998
Centerline is valid?  [True, True]
Translation: X:110.15, Y:15.97, Z:3.55
[[ 9.71460707e-01 -2.35210681e-01 -3.06599131e-02  1.10151187e+02]
 [ 2.35064198e-01  9.71943990e-01 -8.34887235e-03  1.59686274e+01]
 [ 3.17634622e-02  9.03553549e-04  9.99495006e-01  3.55106110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.74650248099998
Centerline is valid?  [True, True]
Translation: X:110.21, Y:15.99, Z:3.55
[[ 9.71532666e-01 -2.34913614e-01 -3.06573414e-02  1.10207016e+02]
 [ 2.34766686e-01  9.72015814e-01 -8.35830509e-03  1.59856847e+01]
 [ 3.17629003e-02  9.23043996e-04  9.99495006e-01  3.55291155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.80650248099998
Centerline is valid?  [True, True]
Translation: X:110.26, Y:16.00, Z:3.55
[[ 9.71181645e-01 -2.36360730e-01 -3.06564349e-02  1.10263208e+02]
 [ 2.36214417e-01  9.71664979e-01 -8.36162849e-03  1.60030892e+01]
 [ 3.17641448e-02  8.79168215e-04  9.99495006e-01  3.55477904e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.86650248099998
Centerline is valid?  [True, True]
Translation: X:110.32, Y:16.02, Z:3.56
[[ 9.71589441e-01 -2.34679132e-01 -3.06539390e-02  1.10318964e+02]
 [ 2.34531695e-01  9.72072433e-01 -8.37076874e-03  1.60228415e+01]
 [ 3.17622938e-02  9.43630269e-04  9.99495006e-01  3.55665003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.92650248099997
Centerline is valid?  [True, True]
Translation: X:110.38, Y:16.04, Z:3.56
[[ 9.71141099e-01 -2.36527932e-01 -3.06513239e-02  1.10375421e+02]
 [ 2.36381112e-01  9.71624279e-01 -8.38033335e-03  1.60397496e+01]
 [ 3.17637534e-02  8.93092097e-04  9.99495006e-01  3.55851852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.98650248099997
Centerline is valid?  [True, True]
Translation: X:110.43, Y:16.06, Z:3.56
[[ 9.70773141e-01 -2.38033978e-01 -3.06485722e-02  1.10431155e+02]
 [ 2.37887590e-01  9.71256452e-01 -8.39038473e-03  1.60567314e+01]
 [ 3.17648202e-02  8.54245132e-04  9.99495006e-01  3.56036527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.04650248099998
Centerline is valid?  [True, True]
Translation: X:110.49, Y:16.07, Z:3.56
[[ 9.69606171e-01 -2.42743894e-01 -3.06476103e-02  1.10488559e+02]
 [ 2.42599744e-01  9.70090154e-01 -8.39389684e-03  1.60731549e+01]
 [ 3.17685122e-02  7.03671751e-04  9.99495006e-01  3.56226170e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.10650248099998
Centerline is valid?  [True, True]
Translation: X:110.54, Y:16.09, Z:3.56
[[ 9.68417752e-01 -2.47442531e-01 -3.06472009e-02  1.10544121e+02]
 [ 2.47300682e-01  9.68902415e-01 -8.39539158e-03  1.60919735e+01]
 [ 3.17715239e-02  5.51172579e-04  9.99495006e-01  3.56412272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.16650248099998
Centerline is valid?  [True, True]
Translation: X:110.60, Y:16.11, Z:3.57
[[ 9.68487550e-01 -2.47169528e-01 -3.06445684e-02  1.10601220e+02]
 [ 2.47027239e-01  9.68972084e-01 -8.40498946e-03  1.61076677e+01]
 [ 3.17711886e-02  5.70084528e-04  9.99495006e-01  3.56600079e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.22650248099998
Centerline is valid?  [True, True]
Translation: X:110.66, Y:16.13, Z:3.57
[[ 9.68932456e-01 -2.45419995e-01 -3.06418307e-02  1.10657075e+02]
 [ 2.45276516e-01  9.69416639e-01 -8.41495832e-03  1.61251583e+01]
 [ 3.17698996e-02  6.37804754e-04  9.99495006e-01  3.56785566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.28650248099997
Centerline is valid?  [True, True]
Translation: X:110.71, Y:16.15, Z:3.57
[[ 9.69841450e-01 -2.41802969e-01 -3.06412577e-02  1.10712763e+02]
 [ 2.41657618e-01  9.70325074e-01 -8.41704455e-03  1.61456645e+01]
 [ 3.17672470e-02  7.58505339e-04  9.99495006e-01  3.56973458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.34650248099997
Centerline is valid?  [True, True]
Translation: X:110.77, Y:16.16, Z:3.57
[[ 9.70921058e-01 -2.37430930e-01 -3.06406854e-02  1.10769615e+02]
 [ 2.37283336e-01  9.71404003e-01 -8.41912713e-03  1.61623682e+01]
 [ 3.17634457e-02  9.03783755e-04  9.99495006e-01  3.57161718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.40650248099998
Centerline is valid?  [True, True]
Translation: X:110.82, Y:16.18, Z:3.57
[[ 9.71880148e-01 -2.33474396e-01 -3.06379399e-02  1.10824557e+02]
 [ 2.33324522e-01  9.72362390e-01 -8.42910657e-03  1.61816754e+01]
 [ 3.17591610e-02  1.04349865e-03  9.99495006e-01  3.57345949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.46650248099998
Centerline is valid?  [True, True]
Translation: X:110.88, Y:16.20, Z:3.58
[[ 9.72768734e-01 -2.29744105e-01 -3.06371823e-02  1.10882372e+02]
 [ 2.29592296e-01  9.73250369e-01 -8.43185922e-03  1.61970965e+01]
 [ 3.17548190e-02  1.16818799e-03  9.99495006e-01  3.57536048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.52650248099998
Centerline is valid?  [True, True]
Translation: X:110.94, Y:16.21, Z:3.58
[[ 9.73001102e-01 -2.28758044e-01 -3.06368027e-02  1.10938357e+02]
 [ 2.28605703e-01  9.73482569e-01 -8.43323847e-03  1.62115737e+01]
 [ 3.17535645e-02  1.20180250e-03  9.99495006e-01  3.57719807e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.58650248099998
Centerline is valid?  [True, True]
Translation: X:111.00, Y:16.23, Z:3.58
[[ 9.72759895e-01 -2.29781702e-01 -3.06358737e-02  1.10996147e+02]
 [ 2.29629761e-01  9.73241489e-01 -8.43661163e-03  1.62278128e+01]
 [ 3.17546824e-02  1.17188907e-03  9.99495006e-01  3.57910491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.64650248099997
Centerline is valid?  [True, True]
Translation: X:111.05, Y:16.24, Z:3.58
[[ 9.72355782e-01 -2.31486054e-01 -3.06339627e-02  1.11052564e+02]
 [ 2.31334740e-01  9.72837574e-01 -8.44354509e-03  1.62431624e+01]
 [ 3.17564329e-02  1.12343010e-03  9.99495006e-01  3.58096051e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.70650248099997
Centerline is valid?  [True, True]
Translation: X:111.11, Y:16.26, Z:3.58
[[ 9.72805688e-01 -2.29588370e-01 -3.06312707e-02  1.11109179e+02]
 [ 2.29435809e-01  9.73287086e-01 -8.45329993e-03  1.62573825e+01]
 [ 3.17537995e-02  1.19550788e-03  9.99495006e-01  3.58281128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.76650248099997
Centerline is valid?  [True, True]
Translation: X:111.17, Y:16.27, Z:3.58
[[ 9.71965145e-01 -2.33121253e-01 -3.06306738e-02  1.11166511e+02]
 [ 2.32970374e-01  9.72447073e-01 -8.45546214e-03  1.62742055e+01]
 [ 3.17578570e-02  1.08237494e-03  9.99495006e-01  3.58470961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 112.82650248099998
Centerline is valid?  [True, True]
Translation: X:111.22, Y:16.29, Z:3.59
[[ 9.71757397e-01 -2.33985814e-01 -3.06300611e-02  1.11224277e+02]
 [ 2.33835294e-01  9.72239437e-01 -8.45768119e-03  1.62881668e+01]
 [ 3.17587307e-02  1.05642490e-03  9.99495006e-01  3.58659696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.88650248099998
Centerline is valid?  [True, True]
Translation: X:111.28, Y:16.30, Z:3.59
[[ 9.71484937e-01 -2.35114579e-01 -3.06292549e-02  1.11281073e+02]
 [ 2.34964527e-01  9.71967124e-01 -8.46059965e-03  1.63035536e+01]
 [ 3.17598391e-02  1.02255673e-03  9.99495006e-01  3.58846636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.94650248099998
Centerline is valid?  [True, True]
Translation: X:111.34, Y:16.32, Z:3.59
[[ 9.71555126e-01 -2.34824729e-01 -3.06265162e-02  1.11338001e+02]
 [ 2.34674222e-01  9.72037170e-01 -8.47050208e-03  1.63173753e+01]
 [ 3.17591955e-02  1.04230587e-03  9.99495006e-01  3.59032323e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.00650248099998
Centerline is valid?  [True, True]
Translation: X:111.40, Y:16.33, Z:3.59
[[ 9.72537122e-01 -2.30724079e-01 -3.06259130e-02  1.11396528e+02]
 [ 2.30571471e-01  9.73018505e-01 -8.47268227e-03  1.63294132e+01]
 [ 3.17544319e-02  1.17853622e-03  9.99495006e-01  3.59221760e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.06650248099997
Centerline is valid?  [True, True]
Translation: X:111.45, Y:16.34, Z:3.59
[[ 9.72921422e-01 -2.29098189e-01 -3.06255866e-02  1.11453021e+02]
 [ 2.28944740e-01  9.73402537e-01 -8.47386208e-03  1.63433102e+01]
 [ 3.17523701e-02  1.23283501e-03  9.99495006e-01  3.59406585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.12650248099997
Centerline is valid?  [True, True]
Translation: X:111.51, Y:16.35, Z:3.60
[[ 9.72791578e-01 -2.29649089e-01 -3.06242019e-02  1.11511355e+02]
 [ 2.29495755e-01  9.73272730e-01 -8.47886322e-03  1.63548203e+01]
 [ 3.17528638e-02  1.22004240e-03  9.99495006e-01  3.59594843e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.18650248099998
Centerline is valid?  [True, True]
Translation: X:111.57, Y:16.37, Z:3.60
[[ 9.72350106e-01 -2.31511527e-01 -3.06216320e-02  1.11567638e+02]
 [ 2.31358823e-01  9.72831459e-01 -8.48813453e-03  1.63685490e+01]
 [ 3.17547879e-02  1.16885380e-03  9.99495006e-01  3.59778492e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.24650248099998
Centerline is valid?  [True, True]
Translation: X:111.63, Y:16.38, Z:3.60
[[ 9.71972670e-01 -2.33091181e-01 -3.06207328e-02  1.11625171e+02]
 [ 2.32939157e-01  9.72454238e-01 -8.49137686e-03  1.63828067e+01]
 [ 3.17565265e-02  1.12061855e-03  9.99495006e-01  3.59966707e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.30650248099998
Centerline is valid?  [True, True]
Translation: X:111.68, Y:16.40, Z:3.60
[[ 9.71139110e-01 -2.36540403e-01 -3.06180782e-02  1.11681428e+02]
 [ 2.36389788e-01  9.71621121e-01 -8.50093816e-03  1.63952057e+01]
 [ 3.17599868e-02  1.01779250e-03  9.99495006e-01  3.60149122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.36650248099998
Centerline is valid?  [True, True]
Translation: X:111.74, Y:16.41, Z:3.60
[[ 9.70833000e-01 -2.37793770e-01 -3.06171456e-02  1.11738315e+02]
 [ 2.37643672e-01  9.71315171e-01 -8.50429581e-03  1.64092495e+01]
 [ 3.17611665e-02  9.80280106e-04  9.99495006e-01  3.60335164e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.42650248099997
Centerline is valid?  [True, True]
Translation: X:111.80, Y:16.42, Z:3.61
[[ 9.70366247e-01 -2.39691406e-01 -3.06166132e-02  1.11796195e+02]
 [ 2.39542191e-01  9.70848692e-01 -8.50621209e-03  1.64220420e+01]
 [ 3.17629648e-02  9.20170511e-04  9.99495006e-01  3.60523258e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.48650248099997
Centerline is valid?  [True, True]
Translation: X:111.86, Y:16.43, Z:3.61
[[ 9.70718230e-01 -2.38262218e-01 -3.06142547e-02  1.11855103e+02]
 [ 2.38112025e-01  9.71200372e-01 -8.51469180e-03  1.64328119e+01]
 [ 3.17613049e-02  9.75744365e-04  9.99495006e-01  3.60712444e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.54650248099998
Centerline is valid?  [True, True]
Translation: X:111.91, Y:16.45, Z:3.61
[[ 9.70660282e-01 -2.38498228e-01 -3.06139168e-02  1.11911601e+02]
 [ 2.38348115e-01  9.71142449e-01 -8.51590650e-03  1.64499286e+01]
 [ 3.17615028e-02  9.69282848e-04  9.99495006e-01  3.60900020e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.60650248099998
Centerline is valid?  [True, True]
Translation: X:111.97, Y:16.46, Z:3.61
[[ 9.71725435e-01 -2.34120975e-01 -3.06112421e-02  1.11970092e+02]
 [ 2.33968388e-01  9.72206824e-01 -8.52551034e-03  1.64610038e+01]
 [ 3.17564592e-02  1.12239229e-03  9.99495006e-01  3.61088123e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.66650248099998
Centerline is valid?  [True, True]
Translation: X:112.03, Y:16.47, Z:3.61
[[ 9.72723185e-01 -2.29940688e-01 -3.06085711e-02  1.12028058e+02]
 [ 2.29785731e-01  9.73203817e-01 -8.53508882e-03  1.64712275e+01]
 [ 3.17509425e-02  1.26886588e-03  9.99495006e-01  3.61273887e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.72650248099998
Centerline is valid?  [True, True]
Translation: X:112.09, Y:16.48, Z:3.61
[[ 9.73811125e-01 -2.25288797e-01 -3.06080249e-02  1.12086627e+02]
 [ 2.25131484e-01  9.74290990e-01 -8.53704722e-03  1.64832692e+01]
 [ 3.17444240e-02  1.42264149e-03  9.99495006e-01  3.61463430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.78650248099997
Centerline is valid?  [True, True]
Translation: X:112.15, Y:16.49, Z:3.62
[[ 9.75145200e-01 -2.19442495e-01 -3.06076662e-02  1.12145006e+02]
 [ 2.19282265e-01  9.75624100e-01 -8.53833320e-03  1.64934568e+01]
 [ 3.17352499e-02  1.61439626e-03  9.99495006e-01  3.61650840e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.84650248099997
Centerline is valid?  [True, True]
Translation: X:112.20, Y:16.51, Z:3.62
[[ 9.75112910e-01 -2.19586022e-01 -3.06070627e-02  1.12202038e+02]
 [ 2.19425795e-01  9.75591810e-01 -8.54049580e-03  1.65054843e+01]
 [ 3.17353732e-02  1.61196863e-03  9.99495006e-01  3.61835652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.90650248099998
Centerline is valid?  [True, True]
Translation: X:112.26, Y:16.52, Z:3.62
[[ 9.74106891e-01 -2.24006744e-01 -3.06062781e-02  1.12259956e+02]
 [ 2.23848603e-01  9.74586484e-01 -8.54330671e-03  1.65188562e+01]
 [ 3.17422233e-02  1.47092134e-03  9.99495006e-01  3.62024288e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.96650248099998
Centerline is valid?  [True, True]
Translation: X:112.32, Y:16.53, Z:3.62
[[ 9.73414959e-01 -2.26994706e-01 -3.06058957e-02  1.12317173e+02]
 [ 2.26837994e-01  9.73895022e-01 -8.54467661e-03  1.65325051e+01]
 [ 3.17465258e-02  1.37493605e-03  9.99495006e-01  3.62211089e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 114.02650248099998
Centerline is valid?  [True, True]
Translation: X:112.38, Y:16.54, Z:3.62
[[ 9.71868084e-01 -2.33529160e-01 -3.06032511e-02  1.12375794e+02]
 [ 2.33375380e-01  9.72349093e-01 -8.55413771e-03  1.65443624e+01]
 [ 3.17546841e-02  1.17144808e-03  9.99495006e-01  3.62400227e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.08650248099998
Centerline is valid?  [True, True]
Translation: X:112.43, Y:16.56, Z:3.63
[[ 9.70237414e-01 -2.40214122e-01 -3.06028780e-02  1.12433447e+02]
 [ 2.40063614e-01  9.70719458e-01 -8.55547223e-03  1.65595110e+01]
 [ 3.17619544e-02  9.54201769e-04  9.99495006e-01  3.62589645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.14650248099997
Centerline is valid?  [True, True]
Translation: X:112.49, Y:16.57, Z:3.63
[[ 9.69529139e-01 -2.43057289e-01 -3.06007126e-02  1.12490688e+02]
 [ 2.42907951e-01  9.70011546e-01 -8.56321028e-03  1.65746555e+01]
 [ 3.17643952e-02  8.69125474e-04  9.99495006e-01  3.62777454e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.20650248099997
Centerline is valid?  [True, True]
Translation: X:112.54, Y:16.60, Z:3.63
[[ 9.66815485e-01 -2.53636707e-01 -3.05980276e-02  1.12544539e+02]
 [ 2.53492345e-01  9.67299405e-01 -8.57279358e-03  1.65957818e+01]
 [ 3.17718290e-02  5.31943789e-04  9.99495006e-01  3.62959917e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.26650248099997
Centerline is valid?  [True, True]
Translation: X:112.60, Y:16.60, Z:3.63
[[ 9.67143704e-01 -2.52382398e-01 -3.05970876e-02  1.12603412e+02]
 [ 2.52237303e-01  9.67627404e-01 -8.57614729e-03  1.66029734e+01]
 [ 3.17710491e-02  5.76640008e-04  9.99495006e-01  3.63146134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.32650248099998
Centerline is valid?  [True, True]
Translation: X:112.66, Y:16.62, Z:3.63
[[ 9.66781915e-01 -2.53764836e-01 -3.05963470e-02  1.12661175e+02]
 [ 2.53620349e-01  9.67265797e-01 -8.57878879e-03  1.66180134e+01]
 [ 3.17717949e-02  5.33961651e-04  9.99495006e-01  3.63335722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.38650248099998
Centerline is valid?  [True, True]
Translation: X:112.72, Y:16.63, Z:3.64
[[ 9.67083686e-01 -2.52612585e-01 -3.05945407e-02  1.12719174e+02]
 [ 2.52467318e-01  9.67567335e-01 -8.58522564e-03  1.66331414e+01]
 [ 3.17710143e-02  5.78510014e-04  9.99495006e-01  3.63525902e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.44650248099998
Centerline is valid?  [True, True]
Translation: X:112.77, Y:16.66, Z:3.64
[[ 9.64676220e-01 -2.61655902e-01 -3.05937783e-02  1.12771136e+02]
 [ 2.61515084e-01  9.65161183e-01 -8.58794173e-03  1.66635676e+01]
 [ 3.17750129e-02  2.83848678e-04  9.99495006e-01  3.63710948e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.50650248099997
Centerline is valid?  [True, True]
Translation: X:112.83, Y:16.68, Z:3.64
[[ 9.65540038e-01 -2.58450217e-01 -3.05928035e-02  1.12826502e+02]
 [ 2.58307678e-01  9.66024498e-01 -8.59141298e-03  1.66818639e+01]
 [ 3.17738501e-02  3.92997182e-04  9.99495006e-01  3.63895957e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.56650248099997
Centerline is valid?  [True, True]
Translation: X:112.88, Y:16.70, Z:3.64
[[ 9.66088449e-01 -2.56392762e-01 -3.05918432e-02  1.12883405e+02]
 [ 2.56249084e-01  9.66572571e-01 -8.59483082e-03  1.66983142e+01]
 [ 3.17728890e-02  4.64234972e-04  9.99495006e-01  3.64084090e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.62650248099997
Centerline is valid?  [True, True]
Translation: X:112.94, Y:16.72, Z:3.64
[[ 9.66469531e-01 -2.54952828e-01 -3.05892230e-02  1.12939410e+02]
 [ 2.54808134e-01  9.66953351e-01 -8.60414621e-03  1.67188034e+01]
 [ 3.17720031e-02  5.21262343e-04  9.99495007e-01  3.64272637e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.68650248099998
Centerline is valid?  [True, True]
Translation: X:113.00, Y:16.74, Z:3.64
[[ 9.65812452e-01 -2.57431077e-01 -3.05867411e-02  1.12996132e+02]
 [ 2.57287345e-01  9.66296559e-01 -8.61296007e-03  1.67382521e+01]
 [ 3.17731062e-02  4.48922696e-04  9.99495007e-01  3.64462520e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.74650248099998
Centerline is valid?  [True, True]
Translation: X:113.05, Y:16.75, Z:3.65
[[ 9.64232074e-01 -2.63288806e-01 -3.05861320e-02  1.13053272e+02]
 [ 2.63147946e-01  9.64717025e-01 -8.61512251e-03  1.67530345e+01]
 [ 3.17752276e-02  2.58299637e-04  9.99495007e-01  3.64650008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.80650248099998
Centerline is valid?  [True, True]
Translation: X:113.11, Y:16.77, Z:3.65
[[ 9.63661815e-01 -2.65368731e-01 -3.05833669e-02  1.13107682e+02]
 [ 2.65228607e-01  9.64146979e-01 -8.62492740e-03  1.67706970e+01]
 [ 3.17756468e-02  1.99929395e-04  9.99495007e-01  3.64831226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.86650248099998
Centerline is valid?  [True, True]
Translation: X:113.16, Y:16.79, Z:3.65
[[ 9.63003229e-01 -2.67748988e-01 -3.05820113e-02  1.13163455e+02]
 [ 2.67609911e-01  9.63488694e-01 -8.62973113e-03  1.67867880e+01]
 [ 3.17760239e-02  1.26409623e-04  9.99495007e-01  3.65015521e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.92650248099997
Centerline is valid?  [True, True]
Translation: X:113.22, Y:16.80, Z:3.65
[[ 9.62914481e-01 -2.68068070e-01 -3.05812352e-02  1.13220982e+02]
 [ 2.67929067e-01  9.63399967e-01 -8.63248075e-03  1.68024949e+01]
 [ 3.17760534e-02  1.18738925e-04  9.99495007e-01  3.65204960e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.98650248099997
Centerline is valid?  [True, True]
Translation: X:113.27, Y:16.83, Z:3.65
[[ 9.63010957e-01 -2.67721382e-01 -3.05803474e-02  1.13274079e+02]
 [ 2.67582104e-01  9.63496364e-01 -8.63562444e-03  1.68260268e+01]
 [ 3.17759949e-02  1.33447268e-04  9.99495007e-01  3.65387583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.04650248099998
Centerline is valid?  [True, True]
Translation: X:113.33, Y:16.85, Z:3.66
[[ 9.63371151e-01 -2.66422507e-01 -3.05789592e-02  1.13330368e+02]
 [ 2.66282419e-01  9.63856325e-01 -8.64053751e-03  1.68450129e+01]
 [ 3.17757569e-02  1.81405366e-04  9.99495007e-01  3.65575958e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.10650248099998
Centerline is valid?  [True, True]
Translation: X:113.39, Y:16.87, Z:3.66
[[ 9.64228372e-01 -2.63303476e-01 -3.05765674e-02  1.13386270e+02]
 [ 2.63161550e-01  9.64713011e-01 -8.64899286e-03  1.68664477e+01]
 [ 3.17749223e-02  2.93027434e-04  9.99495007e-01  3.65765092e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.16650248099998
Centerline is valid?  [True, True]
Translation: X:113.44, Y:16.89, Z:3.66
[[ 9.64973947e-01 -2.60558018e-01 -3.05745171e-02  1.13440547e+02]
 [ 2.60414484e-01  9.65458112e-01 -8.65623503e-03  1.68868036e+01]
 [ 3.17738670e-02  3.90994209e-04  9.99495007e-01  3.65948392e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 115.22650248099998
Centerline is valid?  [True, True]
Translation: X:113.50, Y:16.91, Z:3.66
[[ 9.65280854e-01 -2.59418833e-01 -3.05735479e-02  1.13496626e+02]
 [ 2.59274619e-01  9.65764817e-01 -8.65965666e-03  1.69050693e+01]
 [ 3.17733349e-02  4.32055785e-04  9.99495007e-01  3.66135587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.28650248099997
Centerline is valid?  [True, True]
Translation: X:113.55, Y:16.93, Z:3.66
[[ 9.65421918e-01 -2.58893679e-01 -3.05709708e-02  1.13552128e+02]
 [ 2.58748914e-01  9.65905716e-01 -8.66874505e-03  1.69256238e+01]
 [ 3.17729587e-02  4.58790989e-04  9.99495007e-01  3.66322727e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.34650248099997
Centerline is valid?  [True, True]
Translation: X:113.61, Y:16.94, Z:3.67
[[ 9.65310175e-01 -2.59310328e-01 -3.05682758e-02  1.13608627e+02]
 [ 2.59165472e-01  9.65793946e-01 -8.67823795e-03  1.69423008e+01]
 [ 3.17730124e-02  4.54949789e-04  9.99495007e-01  3.66509536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.40650248099998
Centerline is valid?  [True, True]
Translation: X:113.67, Y:16.95, Z:3.67
[[ 9.66322409e-01 -2.55512720e-01 -3.05655289e-02  1.13668397e+02]
 [ 2.55365656e-01  9.66805514e-01 -8.68790193e-03  1.69470259e+01]
 [ 3.17707913e-02  5.89927969e-04  9.99495007e-01  3.66695952e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.46650248099998
Centerline is valid?  [True, True]
Translation: X:113.72, Y:16.96, Z:3.67
[[ 9.64774243e-01 -2.61297866e-01 -3.05628195e-02  1.13724606e+02]
 [ 2.61153398e-01  9.65258130e-01 -8.69742272e-03  1.69647592e+01]
 [ 3.17736280e-02  4.09465255e-04  9.99495007e-01  3.66882783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.52650248099998
Centerline is valid?  [True, True]
Translation: X:113.78, Y:16.98, Z:3.67
[[ 9.64345207e-01 -2.62876936e-01 -3.05620455e-02  1.13780270e+02]
 [ 2.62733175e-01  9.64829304e-01 -8.70014193e-03  1.69822671e+01]
 [ 3.17742237e-02  3.60276939e-04  9.99495007e-01  3.67068092e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.58650248099998
Centerline is valid?  [True, True]
Translation: X:113.84, Y:17.00, Z:3.67
[[ 9.63097084e-01 -2.67413589e-01 -3.05610829e-02  1.13836056e+02]
 [ 2.67272001e-01  9.63581821e-01 -8.70352173e-03  1.70010808e+01]
 [ 3.17755439e-02  2.14214615e-04  9.99495007e-01  3.67254880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.64650248099997
Centerline is valid?  [True, True]
Translation: X:113.89, Y:17.02, Z:3.67
[[ 9.63854363e-01 -2.64671407e-01 -3.05583663e-02  1.13891661e+02]
 [ 2.64528137e-01  9.64338606e-01 -8.71304928e-03  1.70203852e+01]
 [ 3.17747074e-02  3.14562842e-04  9.99495007e-01  3.67441242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.70650248099997
Centerline is valid?  [True, True]
Translation: X:113.95, Y:17.04, Z:3.68
[[ 9.66249670e-01 -2.55788602e-01 -3.05576026e-02  1.13949012e+02]
 [ 2.55640796e-01  9.66732548e-01 -8.71572715e-03  1.70369057e+01]
 [ 3.17704126e-02  6.09798639e-04  9.99495007e-01  3.67630855e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.76650248099997
Centerline is valid?  [True, True]
Translation: X:114.00, Y:17.05, Z:3.68
[[ 9.65862636e-01 -2.57246295e-01 -3.05567116e-02  1.14004762e+02]
 [ 2.57099120e-01  9.66345706e-01 -8.71884973e-03  1.70549825e+01]
 [ 3.17712388e-02  5.65107517e-04  9.99495007e-01  3.67816910e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.82650248099998
Centerline is valid?  [True, True]
Translation: X:114.06, Y:17.08, Z:3.68
[[ 9.66332650e-01 -2.55475379e-01 -3.05538960e-02  1.14059211e+02]
 [ 2.55327007e-01  9.66815354e-01 -8.72870543e-03  1.70750753e+01]
 [ 3.17699451e-02  6.33598222e-04  9.99495007e-01  3.68000419e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.88650248099998
Centerline is valid?  [True, True]
Translation: X:114.12, Y:17.09, Z:3.68
[[ 9.67566417e-01 -2.50762333e-01 -3.05529108e-02  1.14116785e+02]
 [ 2.50611501e-01  9.68048359e-01 -8.73215239e-03  1.70866191e+01]
 [ 3.17663901e-02  7.92026546e-04  9.99495007e-01  3.68186330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.94650248099998
Centerline is valid?  [True, True]
Translation: X:114.17, Y:17.11, Z:3.68
[[ 9.66893110e-01 -2.53346144e-01 -3.05523353e-02  1.14173095e+02]
 [ 2.53196537e-01  9.67375433e-01 -8.73416547e-03  1.71077615e+01]
 [ 3.17683458e-02  7.09258914e-04  9.99495007e-01  3.68376834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.00650248099997
Centerline is valid?  [True, True]
Translation: X:114.23, Y:17.12, Z:3.69
[[ 9.66684858e-01 -2.54139855e-01 -3.05502784e-02  1.14230149e+02]
 [ 2.53990416e-01  9.67167233e-01 -8.74135436e-03  1.71241617e+01]
 [ 3.17687547e-02  6.90656972e-04  9.99495007e-01  3.68565216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.06650248099997
Centerline is valid?  [True, True]
Translation: X:114.29, Y:17.14, Z:3.69
[[ 9.66730530e-01 -2.53966404e-01 -3.05474654e-02  1.14286983e+02]
 [ 2.53816568e-01  9.67212782e-01 -8.75117344e-03  1.71384667e+01]
 [ 3.17684031e-02  7.06573689e-04  9.99495007e-01  3.68750963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.12650248099997
Centerline is valid?  [True, True]
Translation: X:114.35, Y:17.15, Z:3.69
[[ 9.67140281e-01 -2.52401608e-01 -3.05467612e-02  1.14345961e+02]
 [ 2.52250915e-01  9.67622266e-01 -8.75363097e-03  1.71497489e+01]
 [ 3.17671568e-02  7.60540644e-04  9.99495007e-01  3.68940974e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.18650248099998
Centerline is valid?  [True, True]
Translation: X:114.40, Y:17.17, Z:3.69
[[ 9.66360904e-01 -2.55369389e-01 -3.05463428e-02  1.14402129e+02]
 [ 2.55220130e-01  9.66843334e-01 -8.75509086e-03  1.71669449e+01]
 [ 3.17693101e-02  6.64535923e-04  9.99495007e-01  3.69127625e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.24650248099998
Centerline is valid?  [True, True]
Translation: X:114.46, Y:17.18, Z:3.69
[[ 9.65750459e-01 -2.57668399e-01 -3.05458134e-02  1.14458303e+02]
 [ 2.57520230e-01  9.66233226e-01 -8.75693752e-03  1.71841428e+01]
 [ 3.17707659e-02  5.90851540e-04  9.99495007e-01  3.69314275e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.30650248099998
Centerline is valid?  [True, True]
Translation: X:114.52, Y:17.20, Z:3.70
[[ 9.65870692e-01 -2.57217674e-01 -3.05430020e-02  1.14515570e+02]
 [ 2.57068970e-01  9.66353294e-01 -8.76673230e-03  1.71985615e+01]
 [ 3.17702891e-02  6.15871733e-04  9.99495007e-01  3.69501440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.36650248099998
Centerline is valid?  [True, True]
Translation: X:114.57, Y:17.22, Z:3.70
[[ 9.64584913e-01 -2.61998282e-01 -3.05425132e-02  1.14572204e+02]
 [ 2.61851916e-01  9.65068230e-01 -8.76843482e-03  1.72193207e+01]
 [ 3.17729240e-02  4.60284328e-04  9.99495007e-01  3.69692629e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 116.42650248099997
Centerline is valid?  [True, True]
Translation: X:114.63, Y:17.24, Z:3.70
[[ 9.64757944e-01 -2.61360656e-01 -3.05404313e-02  1.14628686e+02]
 [ 2.61213741e-01  9.65241094e-01 -8.77568009e-03  1.72375024e+01]
 [ 3.17724968e-02  4.88826752e-04  9.99495007e-01  3.69880821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.48650248099997
Centerline is valid?  [True, True]
Translation: X:114.68, Y:17.25, Z:3.70
[[ 9.64935278e-01 -2.60705512e-01 -3.05375999e-02  1.14684920e+02]
 [ 2.60557959e-01  9.65418233e-01 -8.78552193e-03  1.72535496e+01]
 [ 3.17719897e-02  5.20645363e-04  9.99495007e-01  3.70066258e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.54650248099998
Centerline is valid?  [True, True]
Translation: X:114.74, Y:17.27, Z:3.70
[[ 9.64815540e-01 -2.61148670e-01 -3.05343277e-02  1.14740737e+02]
 [ 2.61000978e-01  9.65298453e-01 -8.79687962e-03  1.72707467e+01]
 [ 3.17720327e-02  5.17876750e-04  9.99495007e-01  3.70251354e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.60650248099998
Centerline is valid?  [True, True]
Translation: X:114.80, Y:17.29, Z:3.70
[[ 9.64573012e-01 -2.62043167e-01 -3.05333060e-02  1.14796871e+02]
 [ 2.61895812e-01  9.65056028e-01 -8.80042443e-03  1.72860426e+01]
 [ 3.17724421e-02  4.92106936e-04  9.99495007e-01  3.70436131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.66650248099998
Centerline is valid?  [True, True]
Translation: X:114.85, Y:17.30, Z:3.71
[[ 9.63983208e-01 -2.64204749e-01 -3.05323792e-02  1.14853488e+02]
 [ 2.64058374e-01  9.64466521e-01 -8.80363896e-03  1.73016811e+01]
 [ 3.17734207e-02  4.24229719e-04  9.99495007e-01  3.70622703e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.72650248099998
Centerline is valid?  [True, True]
Translation: X:114.91, Y:17.32, Z:3.71
[[ 9.64218610e-01 -2.63344664e-01 -3.05296438e-02  1.14910205e+02]
 [ 2.63197559e-01  9.64701702e-01 -8.81311455e-03  1.73175722e+01]
 [ 3.17728860e-02  4.62441335e-04  9.99495007e-01  3.70809492e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.78650248099997
Centerline is valid?  [True, True]
Translation: X:114.97, Y:17.33, Z:3.71
[[ 9.64621561e-01 -2.61865149e-01 -3.05268430e-02  1.14965994e+02]
 [ 2.61716996e-01  9.65104332e-01 -8.82280526e-03  1.73330679e+01]
 [ 3.17719737e-02  5.21274528e-04  9.99495007e-01  3.70993085e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.84650248099997
Centerline is valid?  [True, True]
Translation: X:115.02, Y:17.35, Z:3.71
[[ 9.65192549e-01 -2.59752853e-01 -3.05253668e-02  1.15023211e+02]
 [ 2.59603482e-01  9.65674945e-01 -8.82790990e-03  1.73477390e+01]
 [ 3.17706567e-02  5.96141357e-04  9.99495007e-01  3.71180538e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.90650248099998
Centerline is valid?  [True, True]
Translation: X:115.08, Y:17.36, Z:3.71
[[ 9.65797015e-01 -2.57496338e-01 -3.05247762e-02  1.15080069e+02]
 [ 2.57345776e-01  9.66279040e-01 -8.82995147e-03  1.73592709e+01]
 [ 3.17691316e-02  6.72518555e-04  9.99495007e-01  3.71364270e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.96650248099998
Centerline is valid?  [True, True]
Translation: X:115.14, Y:17.37, Z:3.72
[[ 9.66067728e-01 -2.56478929e-01 -3.05238123e-02  1.15137154e+02]
 [ 2.56327754e-01  9.66549562e-01 -8.83328214e-03  1.73743368e+01]
 [ 3.17683282e-02  7.09448564e-04  9.99495007e-01  3.71551751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.02650248099998
Centerline is valid?  [True, True]
Translation: X:115.19, Y:17.39, Z:3.72
[[ 9.65864189e-01 -2.57244677e-01 -3.05212187e-02  1.15194340e+02]
 [ 2.57093602e-01  9.66346053e-01 -8.84223480e-03  1.73906414e+01]
 [ 3.17686770e-02  6.93587913e-04  9.99495008e-01  3.71740353e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.08650248099998
Centerline is valid?  [True, True]
Translation: X:115.25, Y:17.41, Z:3.72
[[ 9.65656987e-01 -2.58021674e-01 -3.05188463e-02  1.15251435e+02]
 [ 2.57870728e-01  9.66138892e-01 -8.85041555e-03  1.74050641e+01]
 [ 3.17690433e-02  6.76548520e-04  9.99495008e-01  3.71927048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.14650248099997
Centerline is valid?  [True, True]
Translation: X:115.31, Y:17.42, Z:3.72
[[ 9.65837047e-01 -2.57346940e-01 -3.05180426e-02  1.15309391e+02]
 [ 2.57195569e-01  9.66318819e-01 -8.85318585e-03  1.74178843e+01]
 [ 3.17684992e-02  7.01629533e-04  9.99495008e-01  3.72115225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.20650248099997
Centerline is valid?  [True, True]
Translation: X:115.37, Y:17.43, Z:3.72
[[ 9.65979462e-01 -2.56812189e-01 -3.05152283e-02  1.15365375e+02]
 [ 2.56660246e-01  9.66461053e-01 -8.86287565e-03  1.74338100e+01]
 [ 3.17678742e-02  7.29309857e-04  9.99495008e-01  3.72299777e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.26650248099997
Centerline is valid?  [True, True]
Translation: X:115.42, Y:17.45, Z:3.72
[[ 9.65538721e-01 -2.58464684e-01 -3.05120669e-02  1.15422443e+02]
 [ 2.58313222e-01  9.66020464e-01 -8.87374615e-03  1.74486240e+01]
 [ 3.17688310e-02  6.86275218e-04  9.99495008e-01  3.72486590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.32650248099998
Centerline is valid?  [True, True]
Translation: X:115.48, Y:17.46, Z:3.73
[[ 9.64768697e-01 -2.61324589e-01 -3.05093512e-02  1.15479319e+02]
 [ 2.61174260e-01  9.65250795e-01 -8.88307334e-03  1.74633531e+01]
 [ 3.17705410e-02  6.01853875e-04  9.99495008e-01  3.72672815e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.38650248099998
Centerline is valid?  [True, True]
Translation: X:115.53, Y:17.48, Z:3.73
[[ 9.63561537e-01 -2.65741442e-01 -3.05065580e-02  1.15534706e+02]
 [ 2.65593020e-01  9.64044225e-01 -8.89265531e-03  1.74797048e+01]
 [ 3.17728182e-02  4.66291741e-04  9.99495008e-01  3.72855922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.44650248099998
Centerline is valid?  [True, True]
Translation: X:115.59, Y:17.50, Z:3.73
[[ 9.63413973e-01 -2.66276296e-01 -3.05032935e-02  1.15592638e+02]
 [ 2.66127788e-01  9.63896635e-01 -8.90383899e-03  1.74956028e+01]
 [ 3.17729033e-02  4.60308860e-04  9.99495008e-01  3.73046312e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.50650248099997
Centerline is valid?  [True, True]
Translation: X:115.65, Y:17.51, Z:3.73
[[ 9.63394027e-01 -2.66348721e-01 -3.05009318e-02  1.15650436e+02]
 [ 2.66199993e-01  9.63876621e-01 -8.91192215e-03  1.75101536e+01]
 [ 3.17728141e-02  4.66344753e-04  9.99495008e-01  3.73235249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.56650248099997
Centerline is valid?  [True, True]
Translation: X:115.71, Y:17.53, Z:3.73
[[ 9.63581713e-01 -2.65669024e-01 -3.05000251e-02  1.15706904e+02]
 [ 2.65519858e-01  9.64064172e-01 -8.91502394e-03  1.75268336e+01]
 [ 3.17724272e-02  4.91991714e-04  9.99495008e-01  3.73422280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 117.62650248099997
Centerline is valid?  [True, True]
Translation: X:115.76, Y:17.54, Z:3.74
[[ 9.63686724e-01 -2.65288173e-01 -3.04972661e-02  1.15763428e+02]
 [ 2.65138517e-01  9.64169031e-01 -8.92445227e-03  1.75430879e+01]
 [ 3.17720711e-02  5.14376268e-04  9.99495008e-01  3.73608776e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.68650248099998
Centerline is valid?  [True, True]
Translation: X:115.82, Y:17.56, Z:3.74
[[ 9.64912897e-01 -2.60793154e-01 -3.04964420e-02  1.15819203e+02]
 [ 2.60641163e-01  9.65394473e-01 -8.92726753e-03  1.75610705e+01]
 [ 3.17692668e-02  6.65407482e-04  9.99495008e-01  3.73794870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.74650248099998
Centerline is valid?  [True, True]
Translation: X:115.88, Y:17.58, Z:3.74
[[ 9.65570730e-01 -2.58346995e-01 -3.04958365e-02  1.15876276e+02]
 [ 2.58193719e-01  9.66051898e-01 -8.92933532e-03  1.75793932e+01]
 [ 3.17674277e-02  7.48071373e-04  9.99495008e-01  3.73985270e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.80650248099998
Centerline is valid?  [True, True]
Translation: X:115.93, Y:17.59, Z:3.74
[[ 9.66187450e-01 -2.56030984e-01 -3.04950213e-02  1.15931633e+02]
 [ 2.55876466e-01  9.66668222e-01 -8.93211862e-03  1.75941597e+01]
 [ 3.17654671e-02  8.27142629e-04  9.99495008e-01  3.74167221e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.86650248099997
Centerline is valid?  [True, True]
Translation: X:115.99, Y:17.61, Z:3.74
[[ 9.67256849e-01 -2.51960935e-01 -3.04938464e-02  1.15989501e+02]
 [ 2.51804269e-01  9.67736925e-01 -8.93612767e-03  1.76067835e+01]
 [ 3.17615763e-02  9.65049982e-04  9.99495008e-01  3.74354850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.92650248099997
Centerline is valid?  [True, True]
Translation: X:116.05, Y:17.62, Z:3.75
[[ 9.67238755e-01 -2.52030743e-01 -3.04909002e-02  1.16045588e+02]
 [ 2.51873795e-01  9.67718739e-01 -8.94616921e-03  1.76244926e+01]
 [ 3.17613252e-02  9.73222815e-04  9.99495008e-01  3.74541278e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.98650248099997
Centerline is valid?  [True, True]
Translation: X:116.10, Y:17.64, Z:3.75
[[ 9.67397599e-01 -2.51420421e-01 -3.04902842e-02  1.16102013e+02]
 [ 2.51263104e-01  9.67877462e-01 -8.94826811e-03  1.76399006e+01]
 [ 3.17606362e-02  9.95449622e-04  9.99495008e-01  3.74727093e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.04650248099998
Centerline is valid?  [True, True]
Translation: X:116.16, Y:17.66, Z:3.75
[[ 9.67107925e-01 -2.52532725e-01 -3.04874463e-02  1.16159933e+02]
 [ 2.52375656e-01  9.67587869e-01 -8.95792681e-03  1.76551182e+01]
 [ 3.17614528e-02  9.68992762e-04  9.99495008e-01  3.74916900e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.10650248099998
Centerline is valid?  [True, True]
Translation: X:116.22, Y:17.67, Z:3.75
[[ 9.66524997e-01 -2.54754974e-01 -3.04849717e-02  1.16217512e+02]
 [ 2.54598743e-01  9.67005214e-01 -8.96634015e-03  1.76698134e+01]
 [ 3.17633464e-02  9.04756391e-04  9.99495008e-01  3.75105260e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.16650248099998
Centerline is valid?  [True, True]
Translation: X:116.27, Y:17.69, Z:3.75
[[ 9.65647814e-01 -2.58060310e-01 -3.04823824e-02  1.16273527e+02]
 [ 2.57905445e-01  9.66128474e-01 -8.97513422e-03  1.76874219e+01]
 [ 3.17660235e-02  8.05246323e-04  9.99495008e-01  3.75291444e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.22650248099998
Centerline is valid?  [True, True]
Translation: X:116.33, Y:17.70, Z:3.75
[[ 9.66155891e-01 -2.56151885e-01 -3.04795954e-02  1.16330767e+02]
 [ 2.55995774e-01  9.66636147e-01 -8.98458898e-03  1.76989918e+01]
 [ 3.17640981e-02  8.77865956e-04  9.99495008e-01  3.75475900e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.28650248099997
Centerline is valid?  [True, True]
Translation: X:116.39, Y:17.71, Z:3.76
[[ 9.66062917e-01 -2.56502401e-01 -3.04788082e-02  1.16387925e+02]
 [ 2.56346380e-01  9.66543203e-01 -8.98725860e-03  1.77143693e+01]
 [ 3.17643383e-02  8.69125111e-04  9.99495008e-01  3.75663884e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.34650248099997
Centerline is valid?  [True, True]
Translation: X:116.45, Y:17.73, Z:3.76
[[ 9.65460167e-01 -2.58762210e-01 -3.04759587e-02  1.16446888e+02]
 [ 2.58607008e-01  9.65940718e-01 -8.99691091e-03  1.77263998e+01]
 [ 3.17660300e-02  8.04862593e-04  9.99495008e-01  3.75853985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.40650248099998
Centerline is valid?  [True, True]
Translation: X:116.50, Y:17.74, Z:3.76
[[ 9.64925533e-01 -2.60749078e-01 -3.04735111e-02  1.16503722e+02]
 [ 2.60594604e-01  9.65406318e-01 -9.00519384e-03  1.77425419e+01]
 [ 3.17674161e-02  7.48108907e-04  9.99495008e-01  3.76041364e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.46650248099998
Centerline is valid?  [True, True]
Translation: X:116.56, Y:17.76, Z:3.76
[[ 9.65048677e-01 -2.60293277e-01 -3.04706684e-02  1.16560457e+02]
 [ 2.60138273e-01  9.65529291e-01 -9.01480237e-03  1.77570188e+01]
 [ 3.17668153e-02  7.73136043e-04  9.99495008e-01  3.76226865e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.52650248099998
Centerline is valid?  [True, True]
Translation: X:116.62, Y:17.77, Z:3.76
[[ 9.65905153e-01 -2.57096916e-01 -3.04698536e-02  1.16618021e+02]
 [ 2.56940235e-01  9.66385223e-01 -9.01755546e-03  1.77731575e+01]
 [ 3.17640019e-02  8.81171933e-04  9.99495008e-01  3.76416762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.58650248099998
Centerline is valid?  [True, True]
Translation: X:116.68, Y:17.79, Z:3.77
[[ 9.67715944e-01 -2.50194955e-01 -3.04686244e-02  1.16676457e+02]
 [ 2.50034720e-01  9.68194840e-01 -9.02170679e-03  1.77869424e+01]
 [ 3.17567504e-02  1.11223553e-03  9.99495008e-01  3.76607115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.64650248099997
Centerline is valid?  [True, True]
Translation: X:116.73, Y:17.80, Z:3.77
[[ 9.68696406e-01 -2.46371645e-01 -3.04677792e-02  1.16733170e+02]
 [ 2.46209431e-01  9.69174635e-01 -9.02456005e-03  1.78041637e+01]
 [ 3.17519945e-02  1.24060430e-03  9.99495008e-01  3.76795388e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.70650248099997
Centerline is valid?  [True, True]
Translation: X:116.79, Y:17.82, Z:3.77
[[ 9.70955051e-01 -2.37314496e-01 -3.04650531e-02  1.16790868e+02]
 [ 2.37147536e-01  9.71431643e-01 -9.03375359e-03  1.78209721e+01]
 [ 3.17385573e-02  1.54665641e-03  9.99495008e-01  3.76985946e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.76650248099997
Centerline is valid?  [True, True]
Translation: X:116.85, Y:17.84, Z:3.77
[[ 9.72572061e-01 -2.30598387e-01 -3.04626159e-02  1.16847448e+02]
 [ 2.30427880e-01  9.73047396e-01 -9.04196471e-03  1.78355968e+01]
 [ 3.17266315e-02  1.77452625e-03  9.99495008e-01  3.77171173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 118.82650248099998
Centerline is valid?  [True, True]
Translation: X:116.91, Y:17.85, Z:3.77
[[ 9.73553876e-01 -2.26417583e-01 -3.04619337e-02  1.16906234e+02]
 [ 2.26244963e-01  9.74028448e-01 -9.04426244e-03  1.78490084e+01]
 [ 3.17185700e-02  1.91321768e-03  9.99495008e-01  3.77362345e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.88650248099998
Centerline is valid?  [True, True]
Translation: X:116.96, Y:17.86, Z:3.78
[[ 9.74251094e-01 -2.23398713e-01 -3.04601510e-02  1.16964082e+02]
 [ 2.23224437e-01  9.74725060e-01 -9.05026217e-03  1.78640598e+01]
 [ 3.17120895e-02  2.01777775e-03  9.99495008e-01  3.77551937e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.94650248099998
Centerline is valid?  [True, True]
Translation: X:117.02, Y:17.88, Z:3.78
[[ 9.74653195e-01 -2.21637887e-01 -3.04597500e-02  1.17021063e+02]
 [ 2.21462713e-01  9.75126830e-01 -9.05161169e-03  1.78755149e+01]
 [ 3.17082996e-02  2.07648338e-03  9.99495008e-01  3.77735885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.00650248099997
Centerline is valid?  [True, True]
Translation: X:117.08, Y:17.89, Z:3.78
[[ 9.73825042e-01 -2.25249171e-01 -3.04565103e-02  1.17077849e+02]
 [ 2.25075415e-01  9.74299199e-01 -9.06249942e-03  1.78881837e+01]
 [ 3.17150741e-02  1.97027720e-03  9.99495009e-01  3.77919802e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.06650248099997
Centerline is valid?  [True, True]
Translation: X:117.14, Y:17.90, Z:3.78
[[ 9.72716147e-01 -2.29990779e-01 -3.04555226e-02  1.17135740e+02]
 [ 2.29819230e-01  9.73191108e-01 -9.06581753e-03  1.79033295e+01]
 [ 3.17240982e-02  1.81920234e-03  9.99495009e-01  3.78109749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.12650248099997
Centerline is valid?  [True, True]
Translation: X:117.19, Y:17.91, Z:3.78
[[ 9.71441069e-01 -2.35318407e-01 -3.04548456e-02  1.17194114e+02]
 [ 2.35149393e-01  9.71916937e-01 -9.06809125e-03  1.79125792e+01]
 [ 3.17334690e-02  1.64767780e-03  9.99495009e-01  3.78295878e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.18650248099998
Centerline is valid?  [True, True]
Translation: X:117.25, Y:17.93, Z:3.78
[[ 9.70396954e-01 -2.39587743e-01 -3.04543106e-02  1.17252342e+02]
 [ 2.39420768e-01  9.70873541e-01 -9.06988755e-03  1.79251173e+01]
 [ 3.17403183e-02  1.50999683e-03  9.99495009e-01  3.78484572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.24650248099998
Centerline is valid?  [True, True]
Translation: X:117.31, Y:17.94, Z:3.79
[[ 9.69940431e-01 -2.41429449e-01 -3.04529227e-02  1.17310373e+02]
 [ 2.41263233e-01  9.70417284e-01 -9.07454503e-03  1.79361480e+01]
 [ 3.17429050e-02  1.45459753e-03  9.99495009e-01  3.78671127e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.30650248099998
Centerline is valid?  [True, True]
Translation: X:117.37, Y:17.95, Z:3.79
[[ 9.70078517e-01 -2.40874371e-01 -3.04500841e-02  1.17368841e+02]
 [ 2.40707584e-01  9.70555170e-01 -9.08406036e-03  1.79475975e+01]
 [ 3.17416039e-02  1.48268564e-03  9.99495009e-01  3.78859101e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.36650248099997
Centerline is valid?  [True, True]
Translation: X:117.42, Y:17.96, Z:3.79
[[ 9.69982854e-01 -2.41259670e-01 -3.04472311e-02  1.17424924e+02]
 [ 2.41092773e-01  9.70459469e-01 -9.09361275e-03  1.79615883e+01]
 [ 3.17417257e-02  1.48004108e-03  9.99495009e-01  3.79042106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.42650248099997
Centerline is valid?  [True, True]
Translation: X:117.48, Y:17.97, Z:3.79
[[ 9.70313140e-01 -2.39927984e-01 -3.04462318e-02  1.17482786e+02]
 [ 2.39760329e-01  9.70789488e-01 -9.09695725e-03  1.79745997e+01]
 [ 3.17394964e-02  1.52709862e-03  9.99495009e-01  3.79230005e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.48650248099997
Centerline is valid?  [True, True]
Translation: X:117.54, Y:17.98, Z:3.79
[[ 9.70299181e-01 -2.39984802e-01 -3.04432860e-02  1.17540647e+02]
 [ 2.39816865e-01  9.70775431e-01 -9.10680459e-03  1.79827531e+01]
 [ 3.17390888e-02  1.53551161e-03  9.99495009e-01  3.79413078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.54650248099998
Centerline is valid?  [True, True]
Translation: X:117.60, Y:17.99, Z:3.80
[[ 9.69539187e-01 -2.43037168e-01 -3.04417608e-02  1.17599805e+02]
 [ 2.42870571e-01  9.70015906e-01 -9.11190034e-03  1.79911426e+01]
 [ 3.17435226e-02  1.44093661e-03  9.99495009e-01  3.79600596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.60650248099998
Centerline is valid?  [True, True]
Translation: X:117.66, Y:18.00, Z:3.80
[[ 9.69177640e-01 -2.44475300e-01 -3.04389409e-02  1.17656777e+02]
 [ 2.44309116e-01  9.69654504e-01 -9.12131064e-03  1.80021113e+01]
 [ 3.17451913e-02  1.40365959e-03  9.99495009e-01  3.79783526e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.66650248099998
Centerline is valid?  [True, True]
Translation: X:117.72, Y:18.01, Z:3.80
[[ 9.68176881e-01 -2.48409053e-01 -3.04379502e-02  1.17715764e+02]
 [ 2.48244703e-01  9.68654380e-01 -9.12461543e-03  1.80098913e+01]
 [ 3.17504909e-02  1.27818179e-03  9.99495009e-01  3.79970055e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.72650248099998
Centerline is valid?  [True, True]
Translation: X:117.78, Y:18.02, Z:3.80
[[ 9.67611573e-01 -2.50602121e-01 -3.04371639e-02  1.17776024e+02]
 [ 2.50438771e-01  9.68089415e-01 -9.12723735e-03  1.80179603e+01]
 [ 3.17532013e-02  1.20897456e-03  9.99495009e-01  3.80160765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.78650248099997
Centerline is valid?  [True, True]
Translation: X:117.83, Y:18.03, Z:3.80
[[ 9.67571176e-01 -2.50758339e-01 -3.04347479e-02  1.17833548e+02]
 [ 2.50594814e-01  9.68048958e-01 -9.13528660e-03  1.80303537e+01]
 [ 3.17530753e-02  1.21225002e-03  9.99495009e-01  3.80346731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.84650248099997
Centerline is valid?  [True, True]
Translation: X:117.89, Y:18.04, Z:3.81
[[ 9.67297945e-01 -2.51810365e-01 -3.04339711e-02  1.17891778e+02]
 [ 2.51647278e-01  9.67775876e-01 -9.13787383e-03  1.80406237e+01]
 [ 3.17542744e-02  1.18042060e-03  9.99495009e-01  3.80533259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.90650248099998
Centerline is valid?  [True, True]
Translation: X:117.95, Y:18.05, Z:3.81
[[ 9.66694127e-01 -2.54118883e-01 -3.04311870e-02  1.17951037e+02]
 [ 2.53956647e-01  9.67172348e-01 -9.14713589e-03  1.80475795e+01]
 [ 3.17566626e-02  1.11428034e-03  9.99495009e-01  3.80719437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.96650248099998
Centerline is valid?  [True, True]
Translation: X:118.01, Y:18.06, Z:3.81
[[ 9.66556613e-01 -2.54641503e-01 -3.04305523e-02  1.18009981e+02]
 [ 2.54479458e-01  9.67034899e-01 -9.14924695e-03  1.80564907e+01]
 [ 3.17571841e-02  1.09931467e-03  9.99495009e-01  3.80906914e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 120.02650248099998
Centerline is valid?  [True, True]
Translation: X:118.07, Y:18.07, Z:3.81
[[ 9.66540337e-01 -2.54703601e-01 -3.04278253e-02  1.18068095e+02]
 [ 2.54541302e-01  9.67018537e-01 -9.15830748e-03  1.80662912e+01]
 [ 3.17569249e-02  1.10673532e-03  9.99495009e-01  3.81092196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.08650248099998
Centerline is valid?  [True, True]
Translation: X:118.12, Y:18.08, Z:3.81
[[ 9.66481971e-01 -2.54925165e-01 -3.04263032e-02  1.18124844e+02]
 [ 2.54762817e-01  9.66960154e-01 -9.16336133e-03  1.80786158e+01]
 [ 3.17569942e-02  1.10473281e-03  9.99495009e-01  3.81275901e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.14650248099997
Centerline is valid?  [True, True]
Translation: X:118.18, Y:18.09, Z:3.81
[[ 9.66800696e-01 -2.53713903e-01 -3.04248221e-02  1.18184676e+02]
 [ 2.53550802e-01  9.67278623e-01 -9.16827645e-03  1.80878408e+01]
 [ 3.17553992e-02  1.14965802e-03  9.99495009e-01  3.81466154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.20650248099997
Centerline is valid?  [True, True]
Translation: X:118.24, Y:18.11, Z:3.82
[[ 9.66943218e-01 -2.53170466e-01 -3.04224911e-02  1.18241421e+02]
 [ 2.53006853e-01  9.67420970e-01 -9.17600476e-03  1.81051677e+01]
 [ 3.17544492e-02  1.17557683e-03  9.99495009e-01  3.81654237e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.26650248099997
Centerline is valid?  [True, True]
Translation: X:118.30, Y:18.13, Z:3.82
[[ 9.66325408e-01 -2.55518787e-01 -3.04196593e-02  1.18296844e+02]
 [ 2.55356041e-01  9.66803455e-01 -9.18538271e-03  1.81253633e+01]
 [ 3.17568696e-02  1.10822491e-03  9.99495009e-01  3.81840821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.32650248099998
Centerline is valid?  [True, True]
Translation: X:118.35, Y:18.14, Z:3.82
[[ 9.65288275e-01 -2.59409388e-01 -3.04190037e-02  1.18353177e+02]
 [ 2.59248500e-01  9.65766951e-01 -9.18755360e-03  1.81424287e+01]
 [ 3.17610061e-02  9.82556682e-04  9.99495009e-01  3.82027799e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.38650248099998
Centerline is valid?  [True, True]
Translation: X:118.41, Y:18.16, Z:3.82
[[ 9.63645426e-01 -2.65447443e-01 -3.04162397e-02  1.18409823e+02]
 [ 2.65289267e-01  9.64125005e-01 -9.19669485e-03  1.81604972e+01]
 [ 3.17662964e-02  7.93250989e-04  9.99495009e-01  3.82216169e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.44650248099998
Centerline is valid?  [True, True]
Translation: X:118.46, Y:18.18, Z:3.82
[[ 9.62571522e-01 -2.69315875e-01 -3.04142138e-02  1.18464220e+02]
 [ 2.69159415e-01  9.63051664e-01 -9.20338993e-03  1.81772532e+01]
 [ 3.17690782e-02  6.72649072e-04  9.99495009e-01  3.82396659e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.50650248099997
Centerline is valid?  [True, True]
Translation: X:118.52, Y:18.19, Z:3.83
[[ 9.60636324e-01 -2.76139377e-01 -3.04121143e-02  1.18520544e+02]
 [ 2.75986109e-01  9.61117494e-01 -9.21032220e-03  1.81949384e+01]
 [ 3.17729478e-02  4.54448980e-04  9.99495009e-01  3.82583853e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.56650248099997
Centerline is valid?  [True, True]
Translation: X:118.58, Y:18.21, Z:3.83
[[ 9.58975834e-01 -2.81852112e-01 -3.04094831e-02  1.18577880e+02]
 [ 2.81701434e-01  9.59457822e-01 -9.21900134e-03  1.82108635e+01]
 [ 3.17750115e-02  2.74404483e-04  9.99495009e-01  3.82772380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.62650248099997
Centerline is valid?  [True, True]
Translation: X:118.63, Y:18.23, Z:3.83
[[ 9.57898373e-01 -2.85492767e-01 -3.04070247e-02  1.18634430e+02]
 [ 2.85343664e-01  9.58380850e-01 -9.22710295e-03  1.82274704e+01]
 [ 3.17757813e-02  1.62175064e-04  9.99495009e-01  3.82959184e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.68650248099998
Centerline is valid?  [True, True]
Translation: X:118.69, Y:18.25, Z:3.83
[[ 9.58619556e-01 -2.83062058e-01 -3.04042392e-02  1.18689915e+02]
 [ 2.82911442e-01  9.59101563e-01 -9.23627231e-03  1.82473568e+01]
 [ 3.17751916e-02  2.52364114e-04  9.99495009e-01  3.83145702e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.74650248099998
Centerline is valid?  [True, True]
Translation: X:118.75, Y:18.27, Z:3.83
[[ 9.58792995e-01 -2.82474333e-01 -3.04013881e-02  1.18746254e+02]
 [ 2.82323124e-01  9.59274816e-01 -9.24564723e-03  1.82656997e+01]
 [ 3.17749440e-02  2.81646947e-04  9.99495009e-01  3.83333381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.80650248099998
Centerline is valid?  [True, True]
Translation: X:118.80, Y:18.28, Z:3.84
[[ 9.58545091e-01 -2.83314735e-01 -3.03985172e-02  1.18803000e+02]
 [ 2.83163649e-01  9.59026950e-01 -9.25507684e-03  1.82825332e+01]
 [ 3.17750969e-02  2.63653436e-04  9.99495009e-01  3.83520897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.86650248099997
Centerline is valid?  [True, True]
Translation: X:118.86, Y:18.30, Z:3.84
[[ 9.58194604e-01 -2.84498167e-01 -3.03956287e-02  1.18858166e+02]
 [ 2.84347376e-01  9.58676555e-01 -9.26455365e-03  1.83006317e+01]
 [ 3.17753251e-02  2.34328072e-04  9.99495009e-01  3.83704778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.92650248099997
Centerline is valid?  [True, True]
Translation: X:118.91, Y:18.32, Z:3.84
[[ 9.55320405e-01 -2.94005247e-01 -3.03947154e-02  1.18913914e+02]
 [ 2.93859156e-01  9.55803802e-01 -9.26754879e-03  1.83205893e+01]
 [ 3.17760925e-02 -7.82869677e-05  9.99495009e-01  3.83892603e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.98650248099997
Centerline is valid?  [True, True]
Translation: X:118.97, Y:18.33, Z:3.84
[[ 9.56220681e-01 -2.91064166e-01 -3.03917848e-02  1.18971717e+02]
 [ 2.90916284e-01  9.56703533e-01 -9.27714950e-03  1.83333394e+01]
 [ 3.17761737e-02  2.95371207e-05  9.99495009e-01  3.84079534e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.04650248099998
Centerline is valid?  [True, True]
Translation: X:119.03, Y:18.35, Z:3.84
[[ 9.55579151e-01 -2.93163559e-01 -3.03910231e-02  1.19028267e+02]
 [ 2.93016658e-01  9.56062302e-01 -9.27964418e-03  1.83509162e+01]
 [ 3.17761650e-02 -3.76415114e-05  9.99495009e-01  3.84267628e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.10650248099998
Centerline is valid?  [True, True]
Translation: X:119.08, Y:18.37, Z:3.84
[[ 9.51522024e-01 -3.06075582e-01 -3.03904096e-02  1.19083433e+02]
 [ 3.05935172e-01  9.52007101e-01 -9.28165282e-03  1.83696319e+01]
 [ 3.17727730e-02 -4.65798121e-04  9.99495009e-01  3.84452602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.16650248099998
Centerline is valid?  [True, True]
Translation: X:119.14, Y:18.39, Z:3.85
[[ 9.51193171e-01 -3.07096114e-01 -3.03896076e-02  1.19140050e+02]
 [ 3.06956141e-01  9.51678375e-01 -9.28427807e-03  1.83870521e+01]
 [ 3.17722981e-02 -4.97134765e-04  9.99495009e-01  3.84640748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 121.22650248099997
Centerline is valid?  [True, True]
Translation: X:119.20, Y:18.41, Z:3.85
[[ 9.54788961e-01 -2.95727367e-01 -3.03869000e-02  1.19196313e+02]
 [ 2.95581334e-01  9.55272376e-01 -9.29313145e-03  1.84061816e+01]
 [ 3.17759994e-02 -1.08821097e-04  9.99495010e-01  3.84828967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.28650248099997
Centerline is valid?  [True, True]
Translation: X:119.25, Y:18.42, Z:3.85
[[ 9.50306927e-01 -3.09828122e-01 -3.03855140e-02  1.19252436e+02]
 [ 3.09689116e-01  9.50792409e-01 -9.29766078e-03  1.84230122e+01]
 [ 3.17709929e-02 -5.74431544e-04  9.99495010e-01  3.85014929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.34650248099997
Centerline is valid?  [True, True]
Translation: X:119.31, Y:18.44, Z:3.85
[[ 9.53646340e-01 -2.99391755e-01 -3.03847963e-02  1.19308592e+02]
 [ 2.99247360e-01  9.54130246e-01 -9.30000562e-03  1.84415850e+01]
 [ 3.17753982e-02 -2.23653777e-04  9.99495010e-01  3.85202761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.40650248099998
Centerline is valid?  [True, True]
Translation: X:119.37, Y:18.46, Z:3.85
[[ 9.48556449e-01 -3.15146747e-01 -3.03840481e-02  1.19366348e+02]
 [ 3.15010309e-01  9.49042660e-01 -9.30244953e-03  1.84576483e+01]
 [ 3.17673945e-02 -7.47389893e-04  9.99495010e-01  3.85393116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.46650248099998
Centerline is valid?  [True, True]
Translation: X:119.42, Y:18.48, Z:3.86
[[ 9.49506624e-01 -3.12272506e-01 -3.03817778e-02  1.19420793e+02]
 [ 3.12134360e-01  9.49992352e-01 -9.30985834e-03  1.84764527e+01]
 [ 3.17696694e-02 -6.43424597e-04  9.99495010e-01  3.85575612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.52650248099998
Centerline is valid?  [True, True]
Translation: X:119.48, Y:18.49, Z:3.86
[[ 9.50727063e-01 -3.08536974e-01 -3.03807198e-02  1.19476742e+02]
 [ 3.08396809e-01  9.51212211e-01 -9.31330967e-03  1.84910653e+01]
 [ 3.17720121e-02 -5.14901494e-04  9.99495010e-01  3.85759054e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.58650248099998
Centerline is valid?  [True, True]
Translation: X:119.53, Y:18.51, Z:3.86
[[ 9.52104940e-01 -3.04258579e-01 -3.03792711e-02  1.19533213e+02]
 [ 3.04116083e-01  9.52589409e-01 -9.31803294e-03  1.85060065e+01]
 [ 3.17740633e-02 -3.67079731e-04  9.99495010e-01  3.85944294e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.64650248099997
Centerline is valid?  [True, True]
Translation: X:119.59, Y:18.52, Z:3.86
[[ 9.51149049e-01 -3.07234101e-01 -3.03758819e-02  1.19590286e+02]
 [ 3.07092768e-01  9.51633858e-01 -9.32906819e-03  1.85222727e+01]
 [ 3.17729256e-02 -4.54879335e-04  9.99495010e-01  3.86132156e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.70650248099997
Centerline is valid?  [True, True]
Translation: X:119.65, Y:18.54, Z:3.86
[[ 9.49489355e-01 -3.12325875e-01 -3.03728888e-02  1.19646423e+02]
 [ 3.12186831e-01  9.49974826e-01 -9.33880278e-03  1.85420541e+01]
 [ 3.17702295e-02 -6.14922060e-04  9.99495010e-01  3.86320546e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.76650248099997
Centerline is valid?  [True, True]
Translation: X:119.70, Y:18.56, Z:3.87
[[ 9.52181345e-01 -3.04020298e-01 -3.03701242e-02  1.19704409e+02]
 [ 3.03876731e-01  9.52665498e-01 -9.34778462e-03  1.85566120e+01]
 [ 3.17744858e-02 -3.27987954e-04  9.99495010e-01  3.86509726e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.82650248099998
Centerline is valid?  [True, True]
Translation: X:119.76, Y:18.58, Z:3.87
[[ 9.51097117e-01 -3.07395680e-01 -3.03672534e-02  1.19758356e+02]
 [ 3.07253535e-01  9.51581689e-01 -9.35710151e-03  1.85777640e+01]
 [ 3.17732549e-02 -4.30933687e-04  9.99495010e-01  3.86692781e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.88650248099998
Centerline is valid?  [True, True]
Translation: X:119.82, Y:18.59, Z:3.87
[[ 9.54199813e-01 -2.97624953e-01 -3.03661770e-02  1.19816291e+02]
 [ 2.97477734e-01  9.54682867e-01 -9.36059359e-03  1.85924530e+01]
 [ 3.17760151e-02 -1.01384852e-04  9.99495010e-01  3.86882308e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.94650248099998
Centerline is valid?  [True, True]
Translation: X:119.87, Y:18.61, Z:3.87
[[ 9.56111451e-01 -2.91425712e-01 -3.03636064e-02  1.19873344e+02]
 [ 2.91275096e-01  9.56593457e-01 -9.36892452e-03  1.86106728e+01]
 [ 3.17759727e-02  1.13573641e-04  9.99495010e-01  3.87072123e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.00650248099997
Centerline is valid?  [True, True]
Translation: X:119.93, Y:18.64, Z:3.87
[[ 9.53805768e-01 -2.98885890e-01 -3.03608553e-02  1.19926655e+02]
 [ 2.98738761e-01  9.54288850e-01 -9.37783118e-03  1.86364690e+01]
 [ 3.17759271e-02 -1.25334827e-04  9.99495010e-01  3.87257641e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.06650248099997
Centerline is valid?  [True, True]
Translation: X:119.98, Y:18.65, Z:3.87
[[ 9.54388301e-01 -2.97020600e-01 -3.03600674e-02  1.19984199e+02]
 [ 2.96872445e-01  9.54871070e-01 -9.38038140e-03  1.86514367e+01]
 [ 3.17761165e-02 -6.05411713e-05  9.99495010e-01  3.87446304e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.12650248099997
Centerline is valid?  [True, True]
Translation: X:120.04, Y:18.67, Z:3.88
[[ 9.54930149e-01 -2.95274195e-01 -3.03572228e-02  1.20040833e+02]
 [ 2.95124865e-01  9.55412555e-01 -9.38957804e-03  1.86678221e+01]
 [ 3.17761719e-02  7.21985719e-06  9.99495010e-01  3.87633069e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.18650248099998
Centerline is valid?  [True, True]
Translation: X:120.10, Y:18.69, Z:3.88
[[ 9.54934161e-01 -2.95261295e-01 -3.03564798e-02  1.20097191e+02]
 [ 2.95111882e-01  9.55416541e-01 -9.39197957e-03  1.86867556e+01]
 [ 3.17761710e-02  1.01642288e-05  9.99495010e-01  3.87821862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.24650248099998
Centerline is valid?  [True, True]
Translation: X:120.15, Y:18.70, Z:3.88
[[ 9.53618910e-01 -2.99482270e-01 -3.03536557e-02  1.20153582e+02]
 [ 2.99334702e-01  9.54101858e-01 -9.40109795e-03  1.87039864e+01]
 [ 3.17759414e-02 -1.20837709e-04  9.99495010e-01  3.88008689e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.30650248099998
Centerline is valid?  [True, True]
Translation: X:120.21, Y:18.72, Z:3.88
[[ 9.52046260e-01 -3.04444762e-01 -3.03530076e-02  1.20210265e+02]
 [ 3.04299644e-01  9.52529950e-01 -9.40318977e-03  1.87220360e+01]
 [ 3.17749007e-02 -2.84137780e-04  9.99495010e-01  3.88197661e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.36650248099997
Centerline is valid?  [True, True]
Translation: X:120.27, Y:18.74, Z:3.88
[[ 9.49902104e-01 -3.11070497e-01 -3.03502790e-02  1.20266233e+02]
 [ 3.10928472e-01  9.50386711e-01 -9.41198883e-03  1.87389882e+01]
 [ 3.17722938e-02 -4.96297870e-04  9.99495010e-01  3.88382961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 122.42650248099997
Centerline is valid?  [True, True]
Translation: X:120.32, Y:18.76, Z:3.89
[[ 9.49679886e-01 -3.11748362e-01 -3.03491833e-02  1.20322071e+02]
 [ 3.11606570e-01  9.50164561e-01 -9.41552046e-03  1.87583341e+01]
 [ 3.17719915e-02 -5.15274530e-04  9.99495010e-01  3.88570491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.48650248099997
Centerline is valid?  [True, True]
Translation: X:120.38, Y:18.78, Z:3.89
[[ 9.47781395e-01 -3.17473692e-01 -3.03460548e-02  1.20377105e+02]
 [ 3.17334505e-01  9.48266824e-01 -9.42559265e-03  1.87791517e+01]
 [ 3.17685348e-02 -6.96448953e-04  9.99495010e-01  3.88756512e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.54650248099998
Centerline is valid?  [True, True]
Translation: X:120.43, Y:18.80, Z:3.89
[[ 9.46159537e-01 -3.22275173e-01 -3.03453986e-02  1.20431841e+02]
 [ 3.22138382e-01  9.46645647e-01 -9.42770493e-03  1.88026405e+01]
 [ 3.17646547e-02 -8.55304669e-04  9.99495010e-01  3.88944704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.60650248099998
Centerline is valid?  [True, True]
Translation: X:120.49, Y:18.82, Z:3.89
[[ 9.46126476e-01 -3.22372497e-01 -3.03424617e-02  1.20486974e+02]
 [ 3.22235454e-01  9.46612515e-01 -9.43714758e-03  1.88228450e+01]
 [ 3.17648308e-02 -8.48681737e-04  9.99495010e-01  3.89130507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.66650248099998
Centerline is valid?  [True, True]
Translation: X:120.54, Y:18.84, Z:3.89
[[ 9.46442682e-01 -3.21443316e-01 -3.03388244e-02  1.20542139e+02]
 [ 3.21305421e-01  9.46928480e-01 -9.44882647e-03  1.88434429e+01]
 [ 3.17659590e-02 -8.05256093e-04  9.99495010e-01  3.89316632e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.72650248099997
Centerline is valid?  [True, True]
Translation: X:120.60, Y:18.86, Z:3.89
[[ 9.47180779e-01 -3.19261925e-01 -3.03380135e-02  1.20597360e+02]
 [ 3.19122828e-01  9.47666234e-01 -9.45142951e-03  1.88600395e+01]
 [ 3.17677926e-02 -7.29340295e-04  9.99495010e-01  3.89499764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.78650248099997
Centerline is valid?  [True, True]
Translation: X:120.65, Y:18.88, Z:3.90
[[ 9.47222197e-01 -3.19139175e-01 -3.03363940e-02  1.20653971e+02]
 [ 3.18999848e-01  9.47707586e-01 -9.45662485e-03  1.88772624e+01]
 [ 3.17680102e-02 -7.19780103e-04  9.99495010e-01  3.89687529e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.84650248099997
Centerline is valid?  [True, True]
Translation: X:120.71, Y:18.89, Z:3.90
[[ 9.48925504e-01 -3.14038662e-01 -3.03332689e-02  1.20712404e+02]
 [ 3.13896406e-01  9.49410043e-01 -9.46663841e-03  1.88877676e+01]
 [ 3.17716005e-02 -5.38369464e-04  9.99495010e-01  3.89874133e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.90650248099998
Centerline is valid?  [True, True]
Translation: X:120.77, Y:18.91, Z:3.90
[[ 9.47813663e-01 -3.17378647e-01 -3.03323924e-02  1.20767509e+02]
 [ 3.17238009e-01  9.48298674e-01 -9.46944585e-03  1.89053260e+01]
 [ 3.17695674e-02 -6.47317607e-04  9.99495010e-01  3.90057808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.96650248099998
Centerline is valid?  [True, True]
Translation: X:120.82, Y:18.93, Z:3.90
[[ 9.39127669e-01 -3.42227093e-01 -3.03288447e-02  1.20820877e+02]
 [ 3.42098910e-01  9.39616119e-01 -9.48079492e-03  1.89340975e+01]
 [ 3.17420562e-02 -1.47178786e-03  9.99495010e-01  3.90246259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.02650248099998
Centerline is valid?  [True, True]
Translation: X:120.88, Y:18.93, Z:3.90
[[ 9.46070312e-01 -3.22538668e-01 -3.03277550e-02  1.20883323e+02]
 [ 3.22400199e-01  9.46555947e-01 -9.48427941e-03  1.89324565e+01]
 [ 3.17659637e-02 -8.04879069e-04  9.99495010e-01  3.90433944e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.08650248099998
Centerline is valid?  [True, True]
Translation: X:120.94, Y:18.95, Z:3.91
[[ 9.43893330e-01 -3.28855105e-01 -3.03265787e-02  1.20939222e+02]
 [ 3.28719765e-01  9.44379846e-01 -9.48803917e-03  1.89520591e+01]
 [ 3.17599998e-02 -1.01324894e-03  9.99495010e-01  3.90621901e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.14650248099997
Centerline is valid?  [True, True]
Translation: X:121.00, Y:18.96, Z:3.91
[[ 9.44666893e-01 -3.26626545e-01 -3.03242648e-02  1.20997858e+02]
 [ 3.26489820e-01  9.45153021e-01 -9.49542876e-03  1.89644980e+01]
 [ 3.17625296e-02 -9.30546595e-04  9.99495010e-01  3.90811103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.20650248099997
Centerline is valid?  [True, True]
Translation: X:121.06, Y:18.98, Z:3.91
[[ 9.47091115e-01 -3.19529406e-01 -3.03212614e-02  1.21056375e+02]
 [ 3.19388731e-01  9.47576115e-01 -9.50500963e-03  1.89774638e+01]
 [ 3.17688332e-02 -6.82159041e-04  9.99495010e-01  3.91000281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.26650248099997
Centerline is valid?  [True, True]
Translation: X:121.11, Y:19.01, Z:3.91
[[ 9.39912941e-01 -3.40065385e-01 -3.03182548e-02  1.21105633e+02]
 [ 3.39934990e-01  9.40400806e-01 -9.51459018e-03  1.90143581e+01]
 [ 3.17468940e-02 -1.36334921e-03  9.99495010e-01  3.91184139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.32650248099998
Centerline is valid?  [True, True]
Translation: X:121.17, Y:19.01, Z:3.91
[[ 9.48514789e-01 -3.15278578e-01 -3.03168937e-02  1.21167624e+02]
 [ 3.15135284e-01  9.48999021e-01 -9.51892520e-03  1.90149776e+01]
 [ 3.17718157e-02 -5.25081590e-04  9.99495011e-01  3.91372467e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.38650248099998
Centerline is valid?  [True, True]
Translation: X:121.22, Y:19.03, Z:3.92
[[ 9.48811934e-01 -3.14383470e-01 -3.03141419e-02  1.21222821e+02]
 [ 3.14239440e-01  9.49295949e-01 -9.52768059e-03  1.90347303e+01]
 [ 3.17724374e-02 -4.85921924e-04  9.99495011e-01  3.91558087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.44650248099998
Centerline is valid?  [True, True]
Translation: X:121.28, Y:19.06, Z:3.92
[[ 9.47816471e-01 -3.17372071e-01 -3.03134587e-02  1.21278002e+02]
 [ 3.17229498e-01  9.48300916e-01 -9.52985371e-03  1.90573658e+01]
 [ 3.17707901e-02 -5.83770975e-04  9.99495011e-01  3.91746871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.50650248099997
Centerline is valid?  [True, True]
Translation: X:121.33, Y:19.07, Z:3.92
[[ 9.48861942e-01 -3.14232685e-01 -3.03122890e-02  1.21333607e+02]
 [ 3.14088390e-01  9.49345877e-01 -9.53357286e-03  1.90703081e+01]
 [ 3.17726068e-02 -4.74693602e-04  9.99495011e-01  3.91927594e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.56650248099997
Centerline is valid?  [True, True]
Translation: X:121.39, Y:19.09, Z:3.92
[[ 9.48420545e-01 -3.15562562e-01 -3.03107145e-02  1.21389227e+02]
 [ 3.15418786e-01  9.48904634e-01 -9.53857611e-03  1.90910528e+01]
 [ 3.17719950e-02 -5.13987213e-04  9.99495011e-01  3.92115715e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 123.62650248099997
Centerline is valid?  [True, True]
Translation: X:121.45, Y:19.10, Z:3.92
[[ 9.46825826e-01 -3.20315749e-01 -3.03096634e-02  1.21446459e+02]
 [ 3.20174296e-01  9.47310600e-01 -9.54191504e-03  1.91037034e+01]
 [ 3.17690911e-02 -6.69843546e-04  9.99495011e-01  3.92301112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.68650248099998
Centerline is valid?  [True, True]
Translation: X:121.50, Y:19.12, Z:3.92
[[ 9.44695960e-01 -3.26543928e-01 -3.03085159e-02  1.21504074e+02]
 [ 3.26405554e-01  9.45181621e-01 -9.54555849e-03  1.91205466e+01]
 [ 3.17640964e-02 -8.75217362e-04  9.99495011e-01  3.92491652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.74650248099998
Centerline is valid?  [True, True]
Translation: X:121.56, Y:19.14, Z:3.93
[[ 9.43034381e-01 -3.31312113e-01 -3.03057670e-02  1.21560645e+02]
 [ 3.31175914e-01  9.43520657e-01 -9.55427802e-03  1.91368870e+01]
 [ 3.17595652e-02 -1.02652741e-03  9.99495011e-01  3.92678187e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.80650248099998
Centerline is valid?  [True, True]
Translation: X:121.62, Y:19.16, Z:3.93
[[ 9.41823712e-01 -3.34738276e-01 -3.03048336e-02  1.21615418e+02]
 [ 3.34603750e-01  9.42310453e-01 -9.55723767e-03  1.91563570e+01]
 [ 3.17557347e-02 -1.13887791e-03  9.99495011e-01  3.92862664e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.86650248099997
Centerline is valid?  [True, True]
Translation: X:121.67, Y:19.18, Z:3.93
[[ 9.40775879e-01 -3.37672056e-01 -3.03039182e-02  1.21670948e+02]
 [ 3.37538955e-01  9.41263012e-01 -9.56013932e-03  1.91774391e+01]
 [ 3.17521492e-02 -1.23480440e-03  9.99495011e-01  3.93050988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.92650248099997
Centerline is valid?  [True, True]
Translation: X:121.73, Y:19.20, Z:3.93
[[ 9.39997506e-01 -3.39833125e-01 -3.03007475e-02  1.21726025e+02]
 [ 3.39700821e-01  9.40484856e-01 -9.57017830e-03  1.91952326e+01]
 [ 3.17496577e-02 -1.29724505e-03  9.99495011e-01  3.93234292e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.98650248099997
Centerline is valid?  [True, True]
Translation: X:121.78, Y:19.21, Z:3.93
[[ 9.38589427e-01 -3.43703325e-01 -3.02970712e-02  1.21781964e+02]
 [ 3.43572655e-01  9.39077217e-01 -9.58180231e-03  1.92142027e+01]
 [ 3.17445867e-02 -1.41586689e-03  9.99495011e-01  3.93421225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.04650248099998
Centerline is valid?  [True, True]
Translation: X:121.84, Y:19.24, Z:3.94
[[ 9.37227431e-01 -3.47400364e-01 -3.02940464e-02  1.21836043e+02]
 [ 3.47271310e-01  9.37715651e-01 -9.59135607e-03  1.92378270e+01]
 [ 3.17392421e-02 -1.53097119e-03  9.99495011e-01  3.93607132e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.10650248099998
Centerline is valid?  [True, True]
Translation: X:121.89, Y:19.25, Z:3.94
[[ 9.38362504e-01 -3.44322760e-01 -3.02927176e-02  1.21891706e+02]
 [ 3.44191969e-01  9.38850262e-01 -9.59555116e-03  1.92546630e+01]
 [ 3.17442925e-02 -1.42240472e-03  9.99495011e-01  3.93791708e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.16650248099998
Centerline is valid?  [True, True]
Translation: X:121.95, Y:19.27, Z:3.94
[[ 9.39058796e-01 -3.42419314e-01 -3.02917756e-02  1.21947789e+02]
 [ 3.42287438e-01  9.39546262e-01 -9.59852405e-03  1.92740859e+01]
 [ 3.17472445e-02 -1.35491583e-03  9.99495011e-01  3.93980125e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.22650248099997
Centerline is valid?  [True, True]
Translation: X:122.00, Y:19.29, Z:3.94
[[ 9.42132181e-01 -3.33870579e-01 -3.02884382e-02  1.22003735e+02]
 [ 3.33733941e-01  9.42618334e-01 -9.60904378e-03  1.92938611e+01]
 [ 3.17586141e-02 -1.05529046e-03  9.99495011e-01  3.94167942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.28650248099997
Centerline is valid?  [True, True]
Translation: X:122.06, Y:19.31, Z:3.94
[[ 9.44781242e-01 -3.26299252e-01 -3.02853693e-02  1.22058826e+02]
 [ 3.26158408e-01  9.45266192e-01 -9.61870641e-03  1.93131595e+01]
 [ 3.17663124e-02 -7.90254454e-04  9.99495011e-01  3.94352773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.34650248099997
Centerline is valid?  [True, True]
Translation: X:122.12, Y:19.33, Z:3.95
[[ 9.49200310e-01 -3.13211788e-01 -3.02844302e-02  1.22115253e+02]
 [ 3.13064161e-01  9.49683239e-01 -9.62166219e-03  1.93289535e+01]
 [ 3.17742338e-02 -3.48084996e-04  9.99495011e-01  3.94538742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.40650248099998
Centerline is valid?  [True, True]
Translation: X:122.17, Y:19.35, Z:3.95
[[ 9.51378220e-01 -3.06532859e-01 -3.02834897e-02  1.22171745e+02]
 [ 3.06381747e-01  9.51860069e-01 -9.62462146e-03  1.93463525e+01]
 [ 3.17759074e-02 -1.21653267e-04  9.99495011e-01  3.94726457e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.46650248099998
Centerline is valid?  [True, True]
Translation: X:122.23, Y:19.36, Z:3.95
[[ 9.53797353e-01 -2.98920918e-01 -3.02802724e-02  1.22228769e+02]
 [ 2.98765640e-01  9.54277876e-01 -9.63473292e-03  1.93609261e+01]
 [ 3.17758173e-02  1.42877798e-04  9.99495011e-01  3.94912557e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.52650248099998
Centerline is valid?  [True, True]
Translation: X:122.29, Y:19.37, Z:3.95
[[ 9.54298739e-01 -2.97316452e-01 -3.02794211e-02  1.22286601e+02]
 [ 2.97160281e-01  9.54778973e-01 -9.63740774e-03  1.93741959e+01]
 [ 3.17755144e-02  1.99124777e-04  9.99495011e-01  3.95100367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.58650248099998
Centerline is valid?  [True, True]
Translation: X:122.34, Y:19.39, Z:3.95
[[ 9.54424171e-01 -2.96913871e-01 -3.02763228e-02  1.22344125e+02]
 [ 2.96757189e-01  9.54904238e-01 -9.64713120e-03  1.93900212e+01]
 [ 3.17753560e-02  2.22738743e-04  9.99495011e-01  3.95289207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.64650248099997
Centerline is valid?  [True, True]
Translation: X:122.40, Y:19.40, Z:3.95
[[ 9.53570272e-01 -2.99645212e-01 -3.02734723e-02  1.22401043e+02]
 [ 2.99489621e-01  9.54050694e-01 -9.65606805e-03  1.94047887e+01]
 [ 3.17758218e-02  1.41148677e-04  9.99495011e-01  3.95475237e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.70650248099997
Centerline is valid?  [True, True]
Translation: X:122.46, Y:19.42, Z:3.96
[[ 9.53218694e-01 -3.00762082e-01 -3.02703004e-02  1.22456907e+02]
 [ 3.00606738e-01  9.53699196e-01 -9.66600125e-03  1.94225627e+01]
 [ 3.17759278e-02  1.14356814e-04  9.99495011e-01  3.95660907e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.76650248099997
Centerline is valid?  [True, True]
Translation: X:122.51, Y:19.44, Z:3.96
[[ 9.51786736e-01 -3.05263727e-01 -3.02665781e-02  1.22514314e+02]
 [ 3.05110286e-01  9.52267849e-01 -9.67764268e-03  1.94357562e+01]
 [ 3.17761225e-02 -2.35923734e-05  9.99495011e-01  3.95846691e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 124.82650248099998
Centerline is valid?  [True, True]
Translation: X:122.57, Y:19.46, Z:3.96
[[ 9.49803680e-01 -3.11379351e-01 -3.02633333e-02  1.22569353e+02]
 [ 3.11228685e-01  9.50285669e-01 -9.68777917e-03  1.94564179e+01]
 [ 3.17753863e-02 -2.17329089e-04  9.99495011e-01  3.96032641e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.88650248099998
Centerline is valid?  [True, True]
Translation: X:122.63, Y:19.47, Z:3.96
[[ 9.47394144e-01 -3.18635399e-01 -3.02624976e-02  1.22627149e+02]
 [ 3.18488341e-01  9.47877246e-01 -9.69038901e-03  1.94718726e+01]
 [ 3.17728338e-02 -4.57634858e-04  9.99495011e-01  3.96222434e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.94650248099998
Centerline is valid?  [True, True]
Translation: X:122.68, Y:19.49, Z:3.96
[[ 9.44683094e-01 -3.26585665e-01 -3.02597988e-02  1.22683237e+02]
 [ 3.26442402e-01  9.45167335e-01 -9.69880906e-03  1.94917776e+01]
 [ 3.17680654e-02 -7.15780449e-04  9.99495011e-01  3.96410951e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.00650248099997
Centerline is valid?  [True, True]
Translation: X:122.74, Y:19.51, Z:3.97
[[ 9.44073130e-01 -3.28344808e-01 -3.02590847e-02  1.22739722e+02]
 [ 3.28202376e-01  9.44557616e-01 -9.70103644e-03  1.95104358e+01]
 [ 3.17667338e-02 -7.72615655e-04  9.99495011e-01  3.96599907e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.06650248099997
Centerline is valid?  [True, True]
Translation: X:122.80, Y:19.53, Z:3.97
[[ 9.43151328e-01 -3.30983605e-01 -3.02560001e-02  1.22795367e+02]
 [ 3.30842221e-01  9.43636121e-01 -9.71064719e-03  1.95298235e+01]
 [ 3.17647196e-02 -8.51352487e-04  9.99495011e-01  3.96786498e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.12650248099997
Centerline is valid?  [True, True]
Translation: X:122.85, Y:19.55, Z:3.97
[[ 9.44089936e-01 -3.28297070e-01 -3.02527210e-02  1.22851097e+02]
 [ 3.28153979e-01  9.44574228e-01 -9.72085223e-03  1.95497207e+01]
 [ 3.17672679e-02 -7.50192012e-04  9.99495011e-01  3.96973806e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.18650248099998
Centerline is valid?  [True, True]
Translation: X:122.90, Y:19.57, Z:3.97
[[ 9.42863742e-01 -3.31802550e-01 -3.02494854e-02  1.22903964e+02]
 [ 3.31660937e-01  9.43348468e-01 -9.73091058e-03  1.95736418e+01]
 [ 3.17645466e-02 -8.57649914e-04  9.99495011e-01  3.97156378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.24650248099998
Centerline is valid?  [True, True]
Translation: X:122.96, Y:19.59, Z:3.97
[[ 9.44204932e-01 -3.27966638e-01 -3.02478317e-02  1.22960730e+02]
 [ 3.27822891e-01  9.44689029e-01 -9.73604833e-03  1.95897487e+01]
 [ 3.17678938e-02 -7.23106782e-04  9.99495012e-01  3.97343497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.30650248099998
Centerline is valid?  [True, True]
Translation: X:123.02, Y:19.60, Z:3.98
[[ 9.44816304e-01 -3.26201486e-01 -3.02447163e-02  1.23017625e+02]
 [ 3.26056526e-01  9.45300039e-01 -9.74571644e-03  1.96049287e+01]
 [ 3.17693987e-02 -6.53575342e-04  9.99495012e-01  3.97529778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.36650248099997
Centerline is valid?  [True, True]
Translation: X:123.07, Y:19.62, Z:3.98
[[ 9.43717358e-01 -3.29367368e-01 -3.02437699e-02  1.23074537e+02]
 [ 3.29223936e-01  9.44201548e-01 -9.74865255e-03  1.96228171e+01]
 [ 3.17671024e-02 -7.57000330e-04  9.99495012e-01  3.97719226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.42650248099997
Centerline is valid?  [True, True]
Translation: X:123.13, Y:19.64, Z:3.98
[[ 9.44031920e-01 -3.28464954e-01 -3.02408446e-02  1.23130473e+02]
 [ 3.28320769e-01  9.44515886e-01 -9.75771856e-03  1.96388018e+01]
 [ 3.17680267e-02 -7.17099557e-04  9.99495012e-01  3.97903426e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.48650248099997
Centerline is valid?  [True, True]
Translation: X:123.19, Y:19.65, Z:3.98
[[ 9.46397420e-01 -3.21585905e-01 -3.02395278e-02  1.23187715e+02]
 [ 3.21438071e-01  9.46880285e-01 -9.76179774e-03  1.96544723e+01]
 [ 3.17724692e-02 -4.81595290e-04  9.99495012e-01  3.98091623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.54650248099998
Centerline is valid?  [True, True]
Translation: X:123.25, Y:19.67, Z:3.98
[[ 9.47106429e-01 -3.19492041e-01 -3.02365257e-02  1.23245081e+02]
 [ 3.19342843e-01  9.47588874e-01 -9.77108762e-03  1.96685883e+01]
 [ 3.17735801e-02 -4.01558176e-04  9.99495012e-01  3.98278299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.60650248099998
Centerline is valid?  [True, True]
Translation: X:123.30, Y:19.69, Z:3.98
[[ 9.48001225e-01 -3.16827442e-01 -3.02332555e-02  1.23299539e+02]
 [ 3.16676565e-01  9.48483148e-01 -9.78119557e-03  1.96900328e+01]
 [ 3.17746845e-02 -3.01578132e-04  9.99495012e-01  3.98463282e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.66650248099998
Centerline is valid?  [True, True]
Translation: X:123.35, Y:19.71, Z:3.99
[[ 9.49565836e-01 -3.12107138e-01 -3.02300622e-02  1.23354606e+02]
 [ 3.11953552e-01  9.50046902e-01 -9.79105513e-03  1.97120625e+01]
 [ 3.17758351e-02 -1.33123813e-04  9.99495012e-01  3.98650704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.72650248099997
Centerline is valid?  [True, True]
Translation: X:123.41, Y:19.73, Z:3.99
[[ 9.49627523e-01 -3.11919704e-01 -3.02269146e-02  1.23412252e+02]
 [ 3.11765714e-01  9.50108459e-01 -9.80076272e-03  1.97288153e+01]
 [ 3.17758983e-02 -1.16641595e-04  9.99495012e-01  3.98840771e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.78650248099997
Centerline is valid?  [True, True]
Translation: X:123.47, Y:19.74, Z:3.99
[[ 9.47443838e-01 -3.18491242e-01 -3.02241995e-02  1.23469047e+02]
 [ 3.18340321e-01  9.47925747e-01 -9.80912843e-03  1.97448441e+01]
 [ 3.17744184e-02 -3.27983086e-04  9.99495012e-01  3.99027647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.84650248099997
Centerline is valid?  [True, True]
Translation: X:123.53, Y:19.76, Z:3.99
[[ 9.46545881e-01 -3.21150192e-01 -3.02233351e-02  1.23526334e+02]
 [ 3.21000539e-01  9.47028185e-01 -9.81179106e-03  1.97599818e+01]
 [ 3.17734088e-02 -4.14396466e-04  9.99495012e-01  3.99215542e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.90650248099998
Centerline is valid?  [True, True]
Translation: X:123.58, Y:19.78, Z:3.99
[[ 9.46628401e-01 -3.20906984e-01 -3.02221374e-02  1.23581494e+02]
 [ 3.20757089e-01  9.47110630e-01 -9.81547895e-03  1.97784766e+01]
 [ 3.17735633e-02 -4.02353687e-04  9.99495012e-01  3.99400230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.96650248099998
Centerline is valid?  [True, True]
Translation: X:123.63, Y:19.81, Z:4.00
[[ 9.40069189e-01 -3.39641870e-01 -3.02212011e-02  1.23633145e+02]
 [ 3.39501488e-01  9.40554272e-01 -9.81836101e-03  1.98106659e+01]
 [ 3.17594063e-02 -1.03020407e-03  9.99495012e-01  3.99587816e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 126.02650248099998
Centerline is valid?  [True, True]
Translation: X:123.69, Y:19.81, Z:4.00
[[ 9.46145226e-01 -3.22329143e-01 -3.02181243e-02  1.23693892e+02]
 [ 3.22179579e-01  9.46627557e-01 -9.82782122e-03  1.98149718e+01]
 [ 3.17731024e-02 -4.37116454e-04  9.99495012e-01  3.99775037e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.08650248099997
Centerline is valid?  [True, True]
Translation: X:123.75, Y:19.83, Z:4.00
[[ 9.47807826e-01 -3.17407282e-01 -3.02149196e-02  1.23750621e+02]
 [ 3.17254900e-01  9.48289275e-01 -9.83766412e-03  1.98323351e+01]
 [ 3.17750304e-02 -2.61616240e-04  9.99495012e-01  3.99962908e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.14650248099997
Centerline is valid?  [True, True]
Translation: X:123.81, Y:19.85, Z:4.00
[[ 9.48106866e-01 -3.16513242e-01 -3.02115638e-02  1.23806347e+02]
 [ 3.16360078e-01  9.48588066e-01 -9.84795890e-03  1.98528298e+01]
 [ 3.17753383e-02 -2.20815246e-04  9.99495012e-01  4.00150796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.20650248099997
Centerline is valid?  [True, True]
Translation: X:123.86, Y:19.87, Z:4.00
[[ 9.47481482e-01 -3.18380543e-01 -3.02104416e-02  1.23860791e+02]
 [ 3.18228217e-01  9.47962948e-01 -9.85140048e-03  1.98735236e+01]
 [ 3.17748735e-02 -2.79795426e-04  9.99495012e-01  4.00335504e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.26650248099997
Centerline is valid?  [True, True]
Translation: X:123.91, Y:19.91, Z:4.01
[[ 9.39702449e-01 -3.40656513e-01 -3.02067455e-02  1.23910427e+02]
 [ 3.40515231e-01  9.40187271e-01 -9.86272038e-03  1.99108280e+01]
 [ 3.17597976e-02 -1.01783443e-03  9.99495012e-01  4.00521508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.32650248099998
Centerline is valid?  [True, True]
Translation: X:123.97, Y:19.93, Z:4.01
[[ 9.37253247e-01 -3.47338419e-01 -3.02055311e-02  1.23966845e+02]
 [ 3.47200473e-01  9.37739028e-01 -9.86643822e-03  1.99281720e+01]
 [ 3.17518985e-02 -1.24002345e-03  9.99495012e-01  4.00708869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.38650248099998
Centerline is valid?  [True, True]
Translation: X:124.03, Y:19.94, Z:4.01
[[ 9.39120510e-01 -3.42257922e-01 -3.02023789e-02  1.24025986e+02]
 [ 3.42117037e-01  9.39605447e-01 -9.87607815e-03  1.99362041e+01]
 [ 3.17584857e-02 -1.05792084e-03  9.99495012e-01  4.00894842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.44650248099998
Centerline is valid?  [True, True]
Translation: X:124.08, Y:19.96, Z:4.01
[[ 9.37606536e-01 -3.46384000e-01 -3.02011320e-02  1.24082341e+02]
 [ 3.46245127e-01  9.38092053e-01 -9.87988957e-03  1.99553569e+01]
 [ 3.17536776e-02 -1.19354577e-03  9.99495012e-01  4.01083787e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.50650248099997
Centerline is valid?  [True, True]
Translation: X:124.14, Y:19.97, Z:4.01
[[ 9.37346025e-01 -3.47088631e-01 -3.01978903e-02  1.24136465e+02]
 [ 3.46949804e-01  9.37831555e-01 -9.88978806e-03  1.99741974e+01]
 [ 3.17531674e-02 -1.20699861e-03  9.99495012e-01  4.01265248e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.56650248099997
Centerline is valid?  [True, True]
Translation: X:124.19, Y:19.99, Z:4.01
[[ 9.37171345e-01 -3.47560236e-01 -3.01952417e-02  1.24191841e+02]
 [ 3.47421394e-01  9.37656871e-01 -9.89786809e-03  1.99933743e+01]
 [ 3.17528812e-02 -1.21447462e-03  9.99495012e-01  4.01450959e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.62650248099997
Centerline is valid?  [True, True]
Translation: X:124.25, Y:20.01, Z:4.02
[[ 9.36786728e-01 -3.48595732e-01 -3.01934219e-02  1.24247773e+02]
 [ 3.48457248e-01  9.37272356e-01 -9.90341631e-03  2.00129146e+01]
 [ 3.17517483e-02 -1.24372774e-03  9.99495012e-01  4.01638889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.68650248099998
Centerline is valid?  [True, True]
Translation: X:124.30, Y:20.03, Z:4.02
[[ 9.36936022e-01 -3.48194531e-01 -3.01903835e-02  1.24303740e+02]
 [ 3.48055541e-01  9.37421506e-01 -9.91267016e-03  2.00309631e+01]
 [ 3.17526523e-02 -1.22039252e-03  9.99495012e-01  4.01825183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.74650248099998
Centerline is valid?  [True, True]
Translation: X:124.36, Y:20.05, Z:4.02
[[ 9.37148266e-01 -3.47623184e-01 -3.01869151e-02  1.24357839e+02]
 [ 3.47483559e-01  9.37633567e-01 -9.92322121e-03  2.00503571e+01]
 [ 3.17538066e-02 -1.18992716e-03  9.99495012e-01  4.02007078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.80650248099998
Centerline is valid?  [True, True]
Translation: X:124.42, Y:20.06, Z:4.02
[[ 9.41184461e-01 -3.36542171e-01 -3.01857078e-02  1.24417606e+02]
 [ 3.36396712e-01  9.41668046e-01 -9.92689241e-03  2.00597897e+01]
 [ 3.17657344e-02 -8.11335959e-04  9.99495012e-01  4.02196688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.86650248099997
Centerline is valid?  [True, True]
Translation: X:124.47, Y:20.09, Z:4.02
[[ 9.39268603e-01 -3.41853040e-01 -3.01826263e-02  1.24469871e+02]
 [ 3.41710014e-01  9.39752913e-01 -9.93625281e-03  2.00906635e+01]
 [ 3.17609492e-02 -9.80895368e-04  9.99495012e-01  4.02384536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.92650248099997
Centerline is valid?  [True, True]
Translation: X:124.53, Y:20.10, Z:4.03
[[ 9.42183798e-01 -3.33734774e-01 -3.01793100e-02  1.24528016e+02]
 [ 3.33587253e-01  9.42666758e-01 -9.94631526e-03  2.01023129e+01]
 [ 3.17684636e-02 -6.96176008e-04  9.99495013e-01  4.02570985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.98650248099997
Centerline is valid?  [True, True]
Translation: X:124.58, Y:20.12, Z:4.03
[[ 9.42411941e-01 -3.33090075e-01 -3.01783904e-02  1.24584484e+02]
 [ 3.32942134e-01  9.42894772e-01 -9.94910469e-03  2.01195696e+01]
 [ 3.17689945e-02 -6.71502622e-04  9.99495013e-01  4.02758461e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.04650248099998
Centerline is valid?  [True, True]
Translation: X:124.64, Y:20.14, Z:4.03
[[ 9.43623799e-01 -3.29641613e-01 -3.01750382e-02  1.24640792e+02]
 [ 3.29491582e-01  9.44105985e-01 -9.95926113e-03  2.01387465e+01]
 [ 3.17714211e-02 -5.44625256e-04  9.99495013e-01  4.02946836e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.10650248099998
Centerline is valid?  [True, True]
Translation: X:124.70, Y:20.16, Z:4.03
[[ 9.43283405e-01 -3.30614689e-01 -3.01719192e-02  1.24695153e+02]
 [ 3.30464854e-01  9.43765652e-01 -9.96870153e-03  2.01627828e+01]
 [ 3.17710201e-02 -5.67448137e-04  9.99495013e-01  4.03134236e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.16650248099998
Centerline is valid?  [True, True]
Translation: X:124.75, Y:20.19, Z:4.03
[[ 9.43184814e-01 -3.30896119e-01 -3.01689413e-02  1.24747684e+02]
 [ 3.30746140e-01  9.43667016e-01 -9.97770563e-03  2.01898755e+01]
 [ 3.17710188e-02 -5.67440428e-04  9.99495013e-01  4.03319202e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 127.22650248099997
Centerline is valid?  [True, True]
Translation: X:124.80, Y:20.21, Z:4.04
[[ 9.43872061e-01 -3.28930758e-01 -3.01676925e-02  1.24803355e+02]
 [ 3.28779654e-01  9.44353911e-01 -9.98147980e-03  2.02061688e+01]
 [ 3.17721941e-02 -4.97283604e-04  9.99495013e-01  4.03503243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.28650248099997
Centerline is valid?  [True, True]
Translation: X:124.86, Y:20.22, Z:4.04
[[ 9.44096898e-01 -3.28284983e-01 -3.01664727e-02  1.24859805e+02]
 [ 3.28133432e-01  9.44578608e-01 -9.98516498e-03  2.02236958e+01]
 [ 3.17725845e-02 -4.71664935e-04  9.99495013e-01  4.03690869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.34650248099997
Centerline is valid?  [True, True]
Translation: X:124.92, Y:20.24, Z:4.04
[[ 9.42639019e-01 -3.32448078e-01 -3.01654674e-02  1.24916344e+02]
 [ 3.32298557e-01  9.43121363e-01 -9.98820117e-03  2.02397607e+01]
 [ 3.17702550e-02 -6.08673136e-04  9.99495013e-01  4.03877349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.40650248099998
Centerline is valid?  [True, True]
Translation: X:124.97, Y:20.26, Z:4.04
[[ 9.41139201e-01 -3.36670601e-01 -3.01647306e-02  1.24971969e+02]
 [ 3.36523172e-01  9.41622188e-01 -9.99042578e-03  2.02591098e+01]
 [ 3.17672623e-02 -7.48749499e-04  9.99495013e-01  4.04064406e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.46650248099998
Centerline is valid?  [True, True]
Translation: X:125.03, Y:20.28, Z:4.04
[[ 9.39198408e-01 -3.42047486e-01 -3.01640187e-02  1.25028044e+02]
 [ 3.41902753e-01  9.39682210e-01 -9.99257493e-03  2.02791305e+01]
 [ 3.17625268e-02 -9.28150542e-04  9.99495013e-01  4.04253502e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.52650248099998
Centerline is valid?  [True, True]
Translation: X:125.08, Y:20.30, Z:4.04
[[ 9.37712165e-01 -3.46101447e-01 -3.01609714e-02  1.25082388e+02]
 [ 3.45958510e-01  9.38196501e-01 -1.00017640e-02  2.02979529e+01]
 [ 3.17585429e-02 -1.05566895e-03  9.99495013e-01  4.04435679e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.58650248099997
Centerline is valid?  [True, True]
Translation: X:125.14, Y:20.32, Z:4.05
[[ 9.36532588e-01 -3.49280833e-01 -3.01597546e-02  1.25137719e+02]
 [ 3.49139422e-01  9.37017372e-01 -1.00054321e-02  2.03184207e+01]
 [ 3.17549196e-02 -1.15954608e-03  9.99495013e-01  4.04622870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.64650248099997
Centerline is valid?  [True, True]
Translation: X:125.19, Y:20.34, Z:4.05
[[ 9.36851795e-01 -3.48424038e-01 -3.01563181e-02  1.25193081e+02]
 [ 3.48281851e-01  9.37336352e-01 -1.00157787e-02  2.03370465e+01]
 [ 3.17563513e-02 -1.11959803e-03  9.99495013e-01  4.04807844e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.70650248099997
Centerline is valid?  [True, True]
Translation: X:125.25, Y:20.36, Z:4.05
[[ 9.36934966e-01 -3.48200407e-01 -3.01553588e-02  1.25248654e+02]
 [ 3.48058012e-01  9.37419461e-01 -1.00186662e-02  2.03568524e+01]
 [ 3.17567239e-02 -1.10897556e-03  9.99495013e-01  4.04995162e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.76650248099997
Centerline is valid?  [True, True]
Translation: X:125.30, Y:20.38, Z:4.05
[[ 9.37931834e-01 -3.45506482e-01 -3.01520512e-02  1.25304766e+02]
 [ 3.45362376e-01  9.38415823e-01 -1.00286111e-02  2.03761597e+01]
 [ 3.17601120e-02 -1.00723046e-03  9.99495013e-01  4.05183111e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.82650248099998
Centerline is valid?  [True, True]
Translation: X:125.36, Y:20.40, Z:4.05
[[ 9.37731970e-01 -3.46048868e-01 -3.01485310e-02  1.25359299e+02]
 [ 3.45904702e-01  9.38215941e-01 -1.00391823e-02  2.03990284e+01]
 [ 3.17598801e-02 -1.01445644e-03  9.99495013e-01  4.05369835e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.88650248099998
Centerline is valid?  [True, True]
Translation: X:125.41, Y:20.42, Z:4.06
[[ 9.37788227e-01 -3.45896686e-01 -3.01450406e-02  1.25413185e+02]
 [ 3.45752105e-01  9.38272075e-01 -1.00496522e-02  2.04224993e+01]
 [ 3.17603912e-02 -9.98265676e-04  9.99495013e-01  4.05555226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.94650248099998
Centerline is valid?  [True, True]
Translation: X:125.47, Y:20.44, Z:4.06
[[ 9.37138385e-01 -3.47653539e-01 -3.01440729e-02  1.25468710e+02]
 [ 3.47509772e-01  9.37622474e-01 -1.00525540e-02  2.04435117e+01]
 [ 3.17585662e-02 -1.05472573e-03  9.99495013e-01  4.05743617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.00650248099998
Centerline is valid?  [True, True]
Translation: X:125.52, Y:20.47, Z:4.06
[[ 9.37512290e-01 -3.46644266e-01 -3.01406588e-02  1.25523466e+02]
 [ 3.46499650e-01  9.37996126e-01 -1.00627801e-02  2.04666052e+01]
 [ 3.17600262e-02 -1.00974768e-03  9.99495013e-01  4.05931285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.066502481
Centerline is valid?  [True, True]
Translation: X:125.58, Y:20.49, Z:4.06
[[ 9.37083417e-01 -3.47802036e-01 -3.01399076e-02  1.25577530e+02]
 [ 3.47657945e-01  9.37567410e-01 -1.00650296e-02  2.04894060e+01]
 [ 3.17588329e-02 -1.04660607e-03  9.99495013e-01  4.06117122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.126502481
Centerline is valid?  [True, True]
Translation: X:125.63, Y:20.51, Z:4.06
[[ 9.36794813e-01 -3.48578934e-01 -3.01364476e-02  1.25632748e+02]
 [ 3.48434912e-01  9.37278827e-01 -1.00753789e-02  2.05126764e+01]
 [ 3.17583191e-02 -1.06202782e-03  9.99495013e-01  4.06306367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.18650248099996
Centerline is valid?  [True, True]
Translation: X:125.69, Y:20.53, Z:4.06
[[ 9.36682448e-01 -3.48881021e-01 -3.01334531e-02  1.25686654e+02]
 [ 3.48736867e-01  9.37166423e-01 -1.00843270e-02  2.05321751e+01]
 [ 3.17582907e-02 -1.06283390e-03  9.99495013e-01  4.06487958e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.24650248099996
Centerline is valid?  [True, True]
Translation: X:125.74, Y:20.55, Z:4.07
[[ 9.36055802e-01 -3.50559032e-01 -3.01313899e-02  1.25741360e+02]
 [ 3.50415548e-01  9.36539975e-01 -1.00904878e-02  2.05536332e+01]
 [ 3.17565628e-02 -1.11324789e-03  9.99495013e-01  4.06674125e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.30650248099997
Centerline is valid?  [True, True]
Translation: X:125.80, Y:20.57, Z:4.07
[[ 9.35314462e-01 -3.52532288e-01 -3.01304365e-02  1.25796497e+02]
 [ 3.52389734e-01  9.35798910e-01 -1.00933338e-02  2.05729282e+01]
 [ 3.17542557e-02 -1.17721539e-03  9.99495013e-01  4.06859632e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.36650248099997
Centerline is valid?  [True, True]
Translation: X:125.85, Y:20.60, Z:4.07
[[ 9.33482087e-01 -3.57356391e-01 -3.01264588e-02  1.25851420e+02]
 [ 3.57215957e-01  9.33967154e-01 -1.01051924e-02  2.05971038e+01]
 [ 3.17482781e-02 -1.32863574e-03  9.99495013e-01  4.07048828e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 128.42650248099997
Centerline is valid?  [True, True]
Translation: X:125.91, Y:20.62, Z:4.07
[[ 9.33319466e-01 -3.57781179e-01 -3.01231275e-02  1.25906154e+02]
 [ 3.57640647e-01  9.33804504e-01 -1.01151133e-02  2.06183506e+01]
 [ 3.17481093e-02 -1.33262272e-03  9.99495013e-01  4.07234627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.48650248099997
Centerline is valid?  [True, True]
Translation: X:125.96, Y:20.64, Z:4.07
[[ 9.32772306e-01 -3.59205576e-01 -3.01194271e-02  1.25961745e+02]
 [ 3.59065430e-01  9.33257456e-01 -1.01261199e-02  2.06412686e+01]
 [ 3.17465386e-02 -1.36948089e-03  9.99495013e-01  4.07424638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.54650248099998
Centerline is valid?  [True, True]
Translation: X:126.02, Y:20.67, Z:4.08
[[ 9.32967767e-01 -3.58697860e-01 -3.01162832e-02  1.26015129e+02]
 [ 3.58557149e-01  9.33452754e-01 -1.01354617e-02  2.06679144e+01]
 [ 3.17476959e-02 -1.34234955e-03  9.99495013e-01  4.07611899e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.60650248099998
Centerline is valid?  [True, True]
Translation: X:126.07, Y:20.69, Z:4.08
[[ 9.33149043e-01 -3.58226095e-01 -3.01152566e-02  1.26068589e+02]
 [ 3.58085040e-01  9.33633930e-01 -1.01385108e-02  2.06906598e+01]
 [ 3.17485046e-02 -1.32308120e-03  9.99495013e-01  4.07795850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.66650248099998
Centerline is valid?  [True, True]
Translation: X:126.12, Y:20.71, Z:4.08
[[ 9.33124907e-01 -3.58289067e-01 -3.01139919e-02  1.26124151e+02]
 [ 3.58147924e-01  9.33609768e-01 -1.01422662e-02  2.07123074e+01]
 [ 3.17485800e-02 -1.32126252e-03  9.99495013e-01  4.07984977e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.72650248099998
Centerline is valid?  [True, True]
Translation: X:126.18, Y:20.74, Z:4.08
[[ 9.33203913e-01 -3.58083506e-01 -3.01107895e-02  1.26177798e+02]
 [ 3.57941950e-01  9.33688654e-01 -1.01517646e-02  2.07384507e+01]
 [ 3.17492820e-02 -1.30424824e-03  9.99495014e-01  4.08172535e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.78650248099999
Centerline is valid?  [True, True]
Translation: X:126.23, Y:20.76, Z:4.08
[[ 9.34050319e-01 -3.55870133e-01 -3.01073008e-02  1.26232159e+02]
 [ 3.55727096e-01  9.34534625e-01 -1.01621007e-02  2.07635550e+01]
 [ 3.17527032e-02 -1.21806924e-03  9.99495014e-01  4.08361153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.846502481
Centerline is valid?  [True, True]
Translation: X:126.29, Y:20.79, Z:4.09
[[ 9.35249957e-01 -3.52705646e-01 -3.01038971e-02  1.26285820e+02]
 [ 3.52560647e-01  9.35733679e-01 -1.01721735e-02  2.07852028e+01]
 [ 3.17570134e-02 -1.09992463e-03  9.99495014e-01  4.08544173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.90650248099996
Centerline is valid?  [True, True]
Translation: X:126.34, Y:20.81, Z:4.09
[[ 9.35726111e-01 -3.51440569e-01 -3.01026785e-02  1.26341309e+02]
 [ 3.51294799e-01  9.36209601e-01 -1.01757786e-02  2.08053484e+01]
 [ 3.17585980e-02 -1.05317269e-03  9.99495014e-01  4.08731579e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.96650248099996
Centerline is valid?  [True, True]
Translation: X:126.40, Y:20.82, Z:4.09
[[ 9.37731946e-01 -3.46053244e-01 -3.00990084e-02  1.26396097e+02]
 [ 3.45904348e-01  9.38214482e-01 -1.01866228e-02  2.08244744e+01]
 [ 3.17644395e-02 -8.59056244e-04  9.99495014e-01  4.08915385e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.02650248099997
Centerline is valid?  [True, True]
Translation: X:126.45, Y:20.85, Z:4.09
[[ 9.40394013e-01 -3.38752453e-01 -3.00977632e-02  1.26450629e+02]
 [ 3.38599693e-01  9.40875340e-01 -1.01903005e-02  2.08475968e+01]
 [ 3.17702325e-02 -6.08195794e-04  9.99495014e-01  4.09102939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.08650248099997
Centerline is valid?  [True, True]
Translation: X:126.51, Y:20.87, Z:4.09
[[ 9.43627474e-01 -3.29638275e-01 -3.00964752e-02  1.26506527e+02]
 [ 3.29480744e-01  9.44107261e-01 -1.01941034e-02  2.08690428e+01]
 [ 3.17746674e-02 -2.96772995e-04  9.99495014e-01  4.09292897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.14650248099997
Centerline is valid?  [True, True]
Translation: X:126.56, Y:20.89, Z:4.09
[[ 9.46287266e-01 -3.21923609e-01 -3.00931881e-02  1.26563385e+02]
 [ 3.21761858e-01  9.46765646e-01 -1.02037977e-02  2.08864193e+01]
 [ 3.17760400e-02 -2.71163302e-05  9.99495014e-01  4.09481229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.20650248099997
Centerline is valid?  [True, True]
Translation: X:126.62, Y:20.91, Z:4.10
[[ 9.49313240e-01 -3.12888112e-01 -3.00898956e-02  1.26618341e+02]
 [ 3.12721500e-01  9.49789949e-01 -1.02134976e-02  2.09086379e+01]
 [ 3.17747624e-02  2.86051238e-04  9.99495014e-01  4.09668778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.26650248099997
Centerline is valid?  [True, True]
Translation: X:126.67, Y:20.93, Z:4.10
[[ 9.49427673e-01 -3.12541040e-01 -3.00864215e-02  1.26673891e+02]
 [ 3.12373930e-01  9.49904208e-01 -1.02237212e-02  2.09263106e+01]
 [ 3.17745508e-02  3.08470094e-04  9.99495014e-01  4.09853438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.32650248099998
Centerline is valid?  [True, True]
Translation: X:126.73, Y:20.95, Z:4.10
[[ 9.49839083e-01 -3.11288878e-01 -3.00823987e-02  1.26728565e+02]
 [ 3.11120766e-01  9.50315265e-01 -1.02355443e-02  2.09462938e+01]
 [ 3.17739738e-02  3.62861054e-04  9.99495014e-01  4.10037729e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.38650248099998
Centerline is valid?  [True, True]
Translation: X:126.78, Y:20.97, Z:4.10
[[ 9.49012972e-01 -3.13798504e-01 -3.00811732e-02  1.26784145e+02]
 [ 3.13631537e-01  9.49489557e-01 -1.02391446e-02  2.09679891e+01]
 [ 3.17747881e-02  2.82676496e-04  9.99495014e-01  4.10227007e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.44650248099998
Centerline is valid?  [True, True]
Translation: X:126.84, Y:20.99, Z:4.10
[[ 9.47994185e-01 -3.16863228e-01 -3.00785530e-02  1.26839901e+02]
 [ 3.16697558e-01  9.48471222e-01 -1.02468360e-02  2.09873616e+01]
 [ 3.17754875e-02  1.88136720e-04  9.99495014e-01  4.10414184e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.50650248099998
Centerline is valid?  [True, True]
Translation: X:126.89, Y:21.01, Z:4.11
[[ 9.46617085e-01 -3.20954188e-01 -3.00749689e-02  1.26893671e+02]
 [ 3.20790245e-01  9.47094718e-01 -1.02573446e-02  2.10084727e+01]
 [ 3.17759819e-02  6.20210308e-05  9.99495014e-01  4.10597001e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.566502481
Centerline is valid?  [True, True]
Translation: X:126.95, Y:21.03, Z:4.11
[[ 9.44991590e-01 -3.25709176e-01 -3.00737170e-02  1.26949267e+02]
 [ 3.25547520e-01  9.45470002e-01 -1.02610138e-02  2.10285131e+01]
 [ 3.17759036e-02 -9.38522930e-05  9.99495014e-01  4.10784633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 129.626502481
Centerline is valid?  [True, True]
Translation: X:127.01, Y:21.05, Z:4.11
[[ 9.43654595e-01 -3.29562789e-01 -3.00728172e-02  1.27005415e+02]
 [ 3.29403003e-01  9.44133634e-01 -1.02636503e-02  2.10467133e+01]
 [ 3.17752754e-02 -2.20735519e-04  9.99495014e-01  4.10972098e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.68650248099996
Centerline is valid?  [True, True]
Translation: X:127.06, Y:21.07, Z:4.11
[[ 9.43587921e-01 -3.29753700e-01 -3.00721253e-02  1.27061820e+02]
 [ 3.29593945e-01  9.44066972e-01 -1.02656771e-02  2.10656944e+01]
 [ 3.17752453e-02 -2.25021550e-04  9.99495014e-01  4.11161177e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.74650248099996
Centerline is valid?  [True, True]
Translation: X:127.12, Y:21.09, Z:4.11
[[ 9.43135229e-01 -3.31046535e-01 -3.00687738e-02  1.27117423e+02]
 [ 3.30887124e-01  9.43614394e-01 -1.02754845e-02  2.10867057e+01]
 [ 3.17749913e-02 -2.58198640e-04  9.99495014e-01  4.11349453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.80650248099997
Centerline is valid?  [True, True]
Translation: X:127.17, Y:21.11, Z:4.12
[[ 9.43085328e-01 -3.31189003e-01 -3.00650544e-02  1.27171004e+02]
 [ 3.31029319e-01  9.43564402e-01 -1.02863557e-02  2.11092276e+01]
 [ 3.17750430e-02 -2.51503290e-04  9.99495014e-01  4.11533142e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.86650248099997
Centerline is valid?  [True, True]
Translation: X:127.23, Y:21.13, Z:4.12
[[ 9.44574896e-01 -3.26916578e-01 -3.00635450e-02  1.27226502e+02]
 [ 3.26754586e-01  9.45053195e-01 -1.02907651e-02  2.11282465e+01]
 [ 3.17758710e-02 -1.03002811e-04  9.99495014e-01  4.11719387e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.92650248099997
Centerline is valid?  [True, True]
Translation: X:127.28, Y:21.15, Z:4.12
[[ 9.45260614e-01 -3.24928864e-01 -3.00600141e-02  1.27281344e+02]
 [ 3.24765539e-01  9.45738459e-01 -1.03010689e-02  2.11509076e+01]
 [ 3.17760260e-02 -2.52620027e-05  9.99495014e-01  4.11907055e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.98650248099997
Centerline is valid?  [True, True]
Translation: X:127.34, Y:21.17, Z:4.12
[[ 9.47477460e-01 -3.18407081e-01 -3.00564896e-02  1.27336825e+02]
 [ 3.18240141e-01  9.47954054e-01 -1.03113425e-02  2.11703430e+01]
 [ 3.17753756e-02  2.04583155e-04  9.99495014e-01  4.12093326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.04650248099998
Centerline is valid?  [True, True]
Translation: X:127.39, Y:21.19, Z:4.12
[[ 9.48007230e-01 -3.16826386e-01 -3.00554985e-02  1.27392285e+02]
 [ 3.16658560e-01  9.48483512e-01 -1.03142306e-02  2.11907602e+01]
 [ 3.17749652e-02  2.60634354e-04  9.99495014e-01  4.12280994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.10650248099998
Centerline is valid?  [True, True]
Translation: X:127.45, Y:21.21, Z:4.12
[[ 9.49532194e-01 -3.12226399e-01 -3.00547549e-02  1.27447617e+02]
 [ 3.12056197e-01  9.50007632e-01 -1.03163968e-02  2.12094112e+01]
 [ 3.17732980e-02  4.16978345e-04  9.99495014e-01  4.12466498e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.16650248099998
Centerline is valid?  [True, True]
Translation: X:127.50, Y:21.23, Z:4.13
[[ 9.50329898e-01 -3.09790049e-01 -3.00534488e-02  1.27504176e+02]
 [ 3.09618508e-01  9.50804855e-01 -1.03202003e-02  2.12267129e+01]
 [ 3.17720604e-02  5.02490898e-04  9.99495014e-01  4.12654197e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.22650248099998
Centerline is valid?  [True, True]
Translation: X:127.56, Y:21.24, Z:4.13
[[ 9.50817014e-01 -3.08291814e-01 -3.00526824e-02  1.27560639e+02]
 [ 3.08119454e-01  9.51291674e-01 -1.03224318e-02  2.12435292e+01]
 [ 3.17711877e-02  5.54927673e-04  9.99495014e-01  4.12841202e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.28650248099999
Centerline is valid?  [True, True]
Translation: X:127.62, Y:21.26, Z:4.13
[[ 9.50615600e-01 -3.08912671e-01 -3.00490159e-02  1.27616288e+02]
 [ 3.08740284e-01  9.51090250e-01 -1.03330939e-02  2.12613184e+01]
 [ 3.17713497e-02  5.45458513e-04  9.99495014e-01  4.13026250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.346502481
Centerline is valid?  [True, True]
Translation: X:127.67, Y:21.28, Z:4.13
[[ 9.50536124e-01 -3.09157260e-01 -3.00477243e-02  1.27672235e+02]
 [ 3.08984877e-01  9.51010776e-01 -1.03368486e-02  2.12783934e+01]
 [ 3.17714213e-02  5.41255626e-04  9.99495014e-01  4.13211875e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.40650248099996
Centerline is valid?  [True, True]
Translation: X:127.73, Y:21.30, Z:4.13
[[ 9.50607997e-01 -3.08936281e-01 -3.00467987e-02  1.27727289e+02]
 [ 3.08763703e-01  9.51082578e-01 -1.03395383e-02  2.12986761e+01]
 [ 3.17712453e-02  5.51486934e-04  9.99495014e-01  4.13398194e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.46650248099996
Centerline is valid?  [True, True]
Translation: X:127.78, Y:21.32, Z:4.14
[[ 9.50388274e-01 -3.09611903e-01 -3.00432818e-02  1.27783507e+02]
 [ 3.09439339e-01  9.50862860e-01 -1.03497472e-02  2.13184840e+01]
 [ 3.17714458e-02  5.39705086e-04  9.99495014e-01  4.13587064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.52650248099997
Centerline is valid?  [True, True]
Translation: X:127.84, Y:21.33, Z:4.14
[[ 9.49713709e-01 -3.11675263e-01 -3.00399912e-02  1.27839311e+02]
 [ 3.11503428e-01  9.50188560e-01 -1.03592893e-02  2.13330230e+01]
 [ 3.17723902e-02  4.80798825e-04  9.99495015e-01  4.13769273e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.58650248099997
Centerline is valid?  [True, True]
Translation: X:127.90, Y:21.35, Z:4.14
[[ 9.48657686e-01 -3.14875003e-01 -3.00387530e-02  1.27895573e+02]
 [ 3.14704657e-01  9.49133073e-01 -1.03628785e-02  2.13534610e+01]
 [ 3.17737853e-02  3.77488918e-04  9.99495015e-01  4.13959330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.64650248099997
Centerline is valid?  [True, True]
Translation: X:127.95, Y:21.37, Z:4.14
[[ 9.48104614e-01 -3.16536728e-01 -3.00356688e-02  1.27950811e+02]
 [ 3.16366932e-01  9.48580197e-01 -1.03718100e-02  2.13710253e+01]
 [ 3.17742994e-02  3.31268552e-04  9.99495015e-01  4.14143005e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.70650248099997
Centerline is valid?  [True, True]
Translation: X:128.01, Y:21.39, Z:4.14
[[ 9.46742422e-01 -3.20588347e-01 -3.00316178e-02  1.28008143e+02]
 [ 3.20420215e-01  9.47218596e-01 -1.03835264e-02  2.13856537e+01]
 [ 3.17753444e-02  2.07787522e-04  9.99495015e-01  4.14329742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.76650248099997
Centerline is valid?  [True, True]
Translation: X:128.06, Y:21.40, Z:4.15
[[ 9.45409827e-01 -3.24497421e-01 -3.00280350e-02  1.28064930e+02]
 [ 3.24330929e-01  9.45886577e-01 -1.03938773e-02  2.14033034e+01]
 [ 3.17759016e-02  8.74532300e-05  9.99495015e-01  4.14518060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 130.82650248099998
Centerline is valid?  [True, True]
Translation: X:128.12, Y:21.42, Z:4.15
[[ 9.45055392e-01 -3.25528533e-01 -3.00246739e-02  1.28121361e+02]
 [ 3.25362252e-01  9.45532215e-01 -1.04035774e-02  2.14221688e+01]
 [ 3.17759577e-02  6.30614180e-05  9.99495015e-01  4.14706611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.88650248099998
Centerline is valid?  [True, True]
Translation: X:128.18, Y:21.44, Z:4.15
[[ 9.45964749e-01 -3.22876777e-01 -3.00213233e-02  1.28178562e+02]
 [ 3.22708853e-01  9.46440997e-01 -1.04132370e-02  2.14378138e+01]
 [ 3.17756036e-02  1.62408298e-04  9.99495015e-01  4.14894116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.94650248099998
Centerline is valid?  [True, True]
Translation: X:128.24, Y:21.45, Z:4.15
[[ 9.46965678e-01 -3.19929324e-01 -3.00205334e-02  1.28236034e+02]
 [ 3.19759845e-01  9.47441375e-01 -1.04155138e-02  2.14523815e+01]
 [ 3.17749237e-02  2.63772927e-04  9.99495015e-01  4.15081775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.00650248099998
Centerline is valid?  [True, True]
Translation: X:128.29, Y:21.47, Z:4.15
[[ 9.48485478e-01 -3.15395438e-01 -3.00169191e-02  1.28293094e+02]
 [ 3.15223357e-01  9.48960239e-01 -1.04259195e-02  2.14668835e+01]
 [ 3.17731502e-02  4.26799196e-04  9.99495015e-01  4.15267605e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.066502481
Centerline is valid?  [True, True]
Translation: X:128.35, Y:21.49, Z:4.15
[[ 9.49789078e-01 -3.11448088e-01 -3.00132667e-02  1.28348557e+02]
 [ 3.11273702e-01  9.50262997e-01 -1.04364232e-02  2.14855616e+01]
 [ 3.17709008e-02  5.70060133e-04  9.99495015e-01  4.15452981e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.12650248099996
Centerline is valid?  [True, True]
Translation: X:128.41, Y:21.50, Z:4.16
[[ 9.51380346e-01 -3.06552923e-01 -3.00123751e-02  1.28405982e+02]
 [ 3.06376018e-01  9.51853331e-01 -1.04389867e-02  2.15009040e+01]
 [ 3.17674811e-02  7.36374857e-04  9.99495015e-01  4.15641275e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.18650248099996
Centerline is valid?  [True, True]
Translation: X:128.46, Y:21.52, Z:4.16
[[ 9.51207121e-01 -3.07090079e-01 -3.00116093e-02  1.28462393e+02]
 [ 3.06913372e-01  9.51680179e-01 -1.04411877e-02  2.15189322e+01]
 [ 3.17678389e-02  7.20767851e-04  9.99495015e-01  4.15829349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.24650248099996
Centerline is valid?  [True, True]
Translation: X:128.52, Y:21.53, Z:4.16
[[ 9.50881089e-01 -3.08098475e-01 -3.00080677e-02  1.28520172e+02]
 [ 3.07921948e-01  9.51354215e-01 -1.04513564e-02  2.15289308e+01]
 [ 3.17683487e-02  6.97854476e-04  9.99495015e-01  4.16012618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.30650248099997
Centerline is valid?  [True, True]
Translation: X:128.58, Y:21.54, Z:4.16
[[ 9.49463210e-01 -3.12440718e-01 -3.00068329e-02  1.28577491e+02]
 [ 3.12266244e-01  9.49937097e-01 -1.04549005e-02  2.15436734e+01]
 [ 3.17711404e-02  5.56422424e-04  9.99495015e-01  4.16199888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.36650248099997
Centerline is valid?  [True, True]
Translation: X:128.63, Y:21.57, Z:4.16
[[ 9.45724303e-01 -3.23581822e-01 -3.00058000e-02  1.28632090e+02]
 [ 3.23412837e-01  9.46200174e-01 -1.04578641e-02  2.15675280e+01]
 [ 3.17754679e-02  1.85995343e-04  9.99495015e-01  4.16388563e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.42650248099997
Centerline is valid?  [True, True]
Translation: X:128.69, Y:21.58, Z:4.17
[[ 9.43736992e-01 -3.29333204e-01 -3.00021814e-02  1.28689802e+02]
 [ 3.29166789e-01  9.44213769e-01 -1.04682352e-02  2.15813253e+01]
 [ 3.17760102e-02  3.53912555e-06  9.99495015e-01  4.16575564e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.48650248099997
Centerline is valid?  [True, True]
Translation: X:128.75, Y:21.59, Z:4.17
[[ 9.43712842e-01 -3.29402486e-01 -3.00012476e-02  1.28749316e+02]
 [ 3.29236021e-01  9.44189601e-01 -1.04709107e-02  2.15870744e+01]
 [ 3.17760100e-02  4.04154732e-06  9.99495015e-01  4.16760049e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.54650248099998
Centerline is valid?  [True, True]
Translation: X:128.80, Y:21.61, Z:4.17
[[ 9.41830567e-01 -3.34746448e-01 -2.99999775e-02  1.28803535e+02]
 [ 3.34582573e-01  9.42308222e-01 -1.04745484e-02  2.16119412e+01]
 [ 3.17755433e-02 -1.72219755e-04  9.99495015e-01  4.16948601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.60650248099998
Centerline is valid?  [True, True]
Translation: X:128.86, Y:21.63, Z:4.17
[[ 9.42331680e-01 -3.33333488e-01 -2.99965246e-02  1.28859003e+02]
 [ 3.33168582e-01  9.42808980e-01 -1.04844271e-02  2.16310027e+01]
 [ 3.17758035e-02 -1.14091724e-04  9.99495015e-01  4.17134398e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.66650248099998
Centerline is valid?  [True, True]
Translation: X:128.92, Y:21.65, Z:4.17
[[ 9.43417689e-01 -3.30247645e-01 -2.99926150e-02  1.28915200e+02]
 [ 3.30080823e-01  9.43894323e-01 -1.04955995e-02  2.16502138e+01]
 [ 3.17760060e-02  1.74723803e-06  9.99495015e-01  4.17322453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.72650248099998
Centerline is valid?  [True, True]
Translation: X:128.97, Y:21.67, Z:4.18
[[ 9.44428149e-01 -3.27347085e-01 -2.99892889e-02  1.28970894e+02]
 [ 3.27178497e-01  9.44904161e-01 -1.05050946e-02  2.16677922e+01]
 [ 3.17758160e-02  1.09456631e-04  9.99495015e-01  4.17507392e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.78650248099999
Centerline is valid?  [True, True]
Translation: X:129.03, Y:21.69, Z:4.18
[[ 9.45376787e-01 -3.24597362e-01 -2.99880341e-02  1.29025862e+02]
 [ 3.24427276e-01  9.45852266e-01 -1.05086753e-02  2.16857829e+01]
 [ 3.17753383e-02  2.05721463e-04  9.99495015e-01  4.17690985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.846502481
Centerline is valid?  [True, True]
Translation: X:129.09, Y:21.69, Z:4.18
[[ 9.48516090e-01 -3.15306229e-01 -2.99868087e-02  1.29085901e+02]
 [ 3.15131376e-01  9.48989837e-01 -1.05121710e-02  2.16916733e+01]
 [ 3.17717297e-02  5.21179041e-04  9.99495015e-01  4.17877072e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.90650248099996
Centerline is valid?  [True, True]
Translation: X:129.14, Y:21.71, Z:4.18
[[ 9.49286100e-01 -3.12980432e-01 -2.99858322e-02  1.29142509e+02]
 [ 3.12804330e-01  9.49759384e-01 -1.05149557e-02  2.17097167e+01]
 [ 3.17703009e-02  6.02003157e-04  9.99495015e-01  4.18065688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.96650248099996
Centerline is valid?  [True, True]
Translation: X:129.20, Y:21.73, Z:4.18
[[ 9.50216608e-01 -3.10144030e-01 -2.99846502e-02  1.29199430e+02]
 [ 3.09966409e-01  9.50689324e-01 -1.05183250e-02  2.17260692e+01]
 [ 3.17682826e-02  7.00452757e-04  9.99495015e-01  4.18253424e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 132.02650248099997
Centerline is valid?  [True, True]
Translation: X:129.26, Y:21.75, Z:4.18
[[ 9.49459967e-01 -3.12453057e-01 -2.99809713e-02  1.29255637e+02]
 [ 3.12276255e-01  9.49932990e-01 -1.05288008e-02  2.17455037e+01]
 [ 3.17696697e-02  6.34329408e-04  9.99495015e-01  4.18441763e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.08650248099997
Centerline is valid?  [True, True]
Translation: X:129.32, Y:21.73, Z:4.19
[[ 9.65862422e-01 -2.57315228e-01 -2.99775676e-02  1.29322525e+02]
 [ 2.57111209e-01  9.66324359e-01 -1.05384829e-02  2.17325887e+01]
 [ 3.16797660e-02  2.47115596e-03  9.99495015e-01  4.18628079e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.14650248099997
Centerline is valid?  [True, True]
Translation: X:129.37, Y:21.78, Z:4.19
[[ 9.49817514e-01 -3.11364917e-01 -2.99763123e-02  1.29368988e+02]
 [ 3.11187155e-01  9.50290177e-01 -1.05420525e-02  2.17787251e+01]
 [ 3.17686204e-02  6.84782760e-04  9.99495015e-01  4.18815827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.20650248099997
Centerline is valid?  [True, True]
Translation: X:129.42, Y:21.80, Z:4.19
[[ 9.48876570e-01 -3.14220827e-01 -2.99754432e-02  1.29423669e+02]
 [ 3.14044410e-01  9.49349736e-01 -1.05445231e-02  2.17985227e+01]
 [ 3.17704879e-02  5.91830597e-04  9.99495015e-01  4.19000531e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.26650248099997
Centerline is valid?  [True, True]
Translation: X:129.48, Y:21.82, Z:4.19
[[ 9.49127131e-01 -3.13463273e-01 -2.99744251e-02  1.29480662e+02]
 [ 3.13286387e-01  9.49600122e-01 -1.05474164e-02  2.18152285e+01]
 [ 3.17699454e-02  6.20259737e-04  9.99495015e-01  4.19188872e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.32650248099998
Centerline is valid?  [True, True]
Translation: X:129.54, Y:21.84, Z:4.19
[[ 9.49263120e-01 -3.13051384e-01 -2.99726560e-02  1.29535290e+02]
 [ 3.12874135e-01  9.49735975e-01 -1.05524412e-02  2.18350598e+01]
 [ 3.17695660e-02  6.39374420e-04  9.99495015e-01  4.19373272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.38650248099998
Centerline is valid?  [True, True]
Translation: X:129.59, Y:21.85, Z:4.20
[[ 9.49125817e-01 -3.13467598e-01 -2.99708064e-02  1.29591521e+02]
 [ 3.13290390e-01  9.49598687e-01 -1.05576918e-02  2.18529708e+01]
 [ 3.17697327e-02  6.31012166e-04  9.99495015e-01  4.19560431e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.44650248099998
Centerline is valid?  [True, True]
Translation: X:129.65, Y:21.87, Z:4.20
[[ 9.49322682e-01 -3.12870990e-01 -2.99698123e-02  1.29647366e+02]
 [ 3.12693396e-01  9.49795407e-01 -1.05605131e-02  2.18692189e+01]
 [ 3.17692683e-02  6.53972225e-04  9.99495015e-01  4.19744848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.50650248099998
Centerline is valid?  [True, True]
Translation: X:129.70, Y:21.89, Z:4.20
[[ 9.47659240e-01 -3.17874210e-01 -2.99658461e-02  1.29702198e+02]
 [ 3.17698756e-01  9.48132764e-01 -1.05717555e-02  2.18915179e+01]
 [ 3.17720889e-02  4.98309726e-04  9.99495016e-01  4.19932017e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.566502481
Centerline is valid?  [True, True]
Translation: X:129.76, Y:21.91, Z:4.20
[[ 9.46588530e-01 -3.21048735e-01 -2.99643851e-02  1.29758070e+02]
 [ 3.20874738e-01  9.47062592e-01 -1.05758949e-02  2.19095045e+01]
 [ 3.17735258e-02  3.96206551e-04  9.99495016e-01  4.20118255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.62650248099996
Centerline is valid?  [True, True]
Translation: X:129.80, Y:21.96, Z:4.20
[[ 9.46039319e-01 -3.22663849e-01 -2.99607767e-02  1.29801137e+02]
 [ 3.22490339e-01  9.46513558e-01 -1.05861073e-02  2.19619672e+01]
 [ 3.17740355e-02  3.52812730e-04  9.99495016e-01  4.20302187e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.68650248099996
Centerline is valid?  [True, True]
Translation: X:129.87, Y:21.95, Z:4.20
[[ 9.43829602e-01 -3.29071587e-01 -2.99595138e-02  1.29868512e+02]
 [ 3.28901182e-01  9.44304967e-01 -1.05896801e-02  2.19475504e+01]
 [ 3.17756805e-02  1.41134000e-04  9.99495016e-01  4.20488624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.74650248099996
Centerline is valid?  [True, True]
Translation: X:129.92, Y:21.97, Z:4.21
[[ 9.43637455e-01 -3.29622499e-01 -2.99560052e-02  1.29924096e+02]
 [ 3.29452058e-01  9.44112806e-01 -1.05995959e-02  2.19671152e+01]
 [ 3.17757134e-02  1.33108165e-04  9.99495016e-01  4.20675252e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.80650248099997
Centerline is valid?  [True, True]
Translation: X:129.98, Y:21.99, Z:4.21
[[ 9.43794064e-01 -3.29174156e-01 -2.99522932e-02  1.29977318e+02]
 [ 3.29003156e-01  9.44269215e-01 -1.06100750e-02  2.19888929e+01]
 [ 3.17755908e-02  1.59326848e-04  9.99495016e-01  4.20857109e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.86650248099997
Centerline is valid?  [True, True]
Translation: X:130.03, Y:22.01, Z:4.21
[[ 9.45274236e-01 -3.24899391e-01 -2.99500226e-02  1.30031782e+02]
 [ 3.24726039e-01  9.45748534e-01 -1.06164805e-02  2.20107541e+01]
 [ 3.17744780e-02  3.09933278e-04  9.99495016e-01  4.21043071e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.92650248099997
Centerline is valid?  [True, True]
Translation: X:130.09, Y:22.03, Z:4.21
[[ 9.47348801e-01 -3.18800022e-01 -2.99465460e-02  1.30088032e+02]
 [ 3.18623307e-01  9.47821856e-01 -1.06262782e-02  2.20286257e+01]
 [ 3.17716485e-02  5.25124368e-04  9.99495016e-01  4.21229909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.98650248099997
Centerline is valid?  [True, True]
Translation: X:130.14, Y:22.05, Z:4.21
[[ 9.49393898e-01 -3.12657375e-01 -2.99431642e-02  1.30144469e+02]
 [ 3.12477300e-01  9.49865684e-01 -1.06357989e-02  2.20485334e+01]
 [ 3.17673451e-02  7.41003419e-04  9.99495016e-01  4.21419487e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.04650248099998
Centerline is valid?  [True, True]
Translation: X:130.20, Y:22.07, Z:4.22
[[ 9.50716713e-01 -3.08611954e-01 -2.99398182e-02  1.30199331e+02]
 [ 3.08429575e-01  9.51187614e-01 -1.06452096e-02  2.20695276e+01]
 [ 3.17636232e-02  8.86253255e-04  9.99495016e-01  4.21605511e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.10650248099998
Centerline is valid?  [True, True]
Translation: X:130.26, Y:22.09, Z:4.22
[[ 9.50737087e-01 -3.08549539e-01 -2.99361463e-02  1.30255492e+02]
 [ 3.08366805e-01  9.51207850e-01 -1.06555256e-02  2.20885517e+01]
 [ 3.17632549e-02  8.99289511e-04  9.99495016e-01  4.21793263e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.16650248099998
Centerline is valid?  [True, True]
Translation: X:130.31, Y:22.11, Z:4.22
[[ 9.50489024e-01 -3.09312976e-01 -2.99349106e-02  1.30309934e+02]
 [ 3.09130511e-01  9.50959890e-01 -1.06589960e-02  2.21079852e+01]
 [ 3.17638651e-02  8.77464500e-04  9.99495016e-01  4.21976791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 133.22650248099998
Centerline is valid?  [True, True]
Translation: X:130.37, Y:22.13, Z:4.22
[[ 9.49184470e-01 -3.13293551e-01 -2.99331274e-02  1.30365647e+02]
 [ 3.13112903e-01  9.49656037e-01 -1.06640015e-02  2.21272884e+01]
 [ 3.17671380e-02  7.49656162e-04  9.99495016e-01  4.22163879e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.28650248099999
Centerline is valid?  [True, True]
Translation: X:130.42, Y:22.15, Z:4.22
[[ 9.46641437e-01 -3.20895950e-01 -2.99295717e-02  1.30421982e+02]
 [ 3.20718774e-01  9.47114319e-01 -1.06739715e-02  2.21454277e+01]
 [ 3.17719601e-02  5.05448179e-04  9.99495016e-01  4.22351229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.346502481
Centerline is valid?  [True, True]
Translation: X:130.48, Y:22.16, Z:4.23
[[ 9.43148228e-01 -3.31022218e-01 -2.99284349e-02  1.30477733e+02]
 [ 3.30850019e-01  9.43622945e-01 -1.06771581e-02  2.21640216e+01]
 [ 3.17755344e-02  1.68319454e-04  9.99495016e-01  4.22537802e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.40650248099996
Centerline is valid?  [True, True]
Translation: X:130.53, Y:22.18, Z:4.23
[[ 9.38821582e-01 -3.43101349e-01 -2.99249415e-02  1.30533007e+02]
 [ 3.42934946e-01  9.39298362e-01 -1.06869400e-02  2.21844281e+01]
 [ 3.17751520e-02 -2.29178271e-04  9.99495016e-01  4.22724405e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.46650248099996
Centerline is valid?  [True, True]
Translation: X:130.58, Y:22.23, Z:4.23
[[ 9.30479690e-01 -3.65119502e-01 -2.99214951e-02  1.30580347e+02]
 [ 3.64964067e-01  9.30960157e-01 -1.06965805e-02  2.22273446e+01]
 [ 3.17612499e-02 -9.67319643e-04  9.99495016e-01  4.22911360e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.52650248099997
Centerline is valid?  [True, True]
Translation: X:130.63, Y:22.27, Z:4.23
[[ 9.17307154e-01 -3.97054613e-01 -2.99202285e-02  1.30628583e+02]
 [ 3.96915758e-01  9.17792672e-01 -1.07001224e-02  2.22683033e+01]
 [ 3.17090994e-02 -2.06051131e-03  9.99495016e-01  4.23099359e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.58650248099997
Centerline is valid?  [True, True]
Translation: X:130.69, Y:22.27, Z:4.23
[[ 9.27540916e-01 -3.72522105e-01 -2.99187311e-02  1.30689538e+02]
 [ 3.72370254e-01  9.28022528e-01 -1.07043075e-02  2.22739595e+01]
 [ 3.17528476e-02 -1.21216230e-03  9.99495016e-01  4.23287597e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.64650248099997
Centerline is valid?  [True, True]
Translation: X:130.74, Y:22.30, Z:4.23
[[ 9.26177444e-01 -3.75899343e-01 -2.99169842e-02  1.30742453e+02]
 [ 3.75749091e-01  9.26659557e-01 -1.07091878e-02  2.22996265e+01]
 [ 3.17484359e-02 -1.32267140e-03  9.99495016e-01  4.23473146e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.70650248099997
Centerline is valid?  [True, True]
Translation: X:130.81, Y:22.29, Z:4.24
[[ 9.38002804e-01 -3.45334588e-01 -2.99125804e-02  1.30806506e+02]
 [ 3.45168219e-01  9.38479595e-01 -1.07214742e-02  2.22932416e+01]
 [ 3.17748422e-02 -2.68099259e-04  9.99495016e-01  4.23657156e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.76650248099997
Centerline is valid?  [True, True]
Translation: X:130.86, Y:22.32, Z:4.24
[[ 9.39765124e-01 -3.40509653e-01 -2.99113288e-02  1.30860846e+02]
 [ 3.40340725e-01  9.40241015e-01 -1.07249649e-02  2.23193818e+01]
 [ 3.17758122e-02 -1.01095326e-04  9.99495016e-01  4.23847578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.82650248099998
Centerline is valid?  [True, True]
Translation: X:130.91, Y:22.34, Z:4.24
[[ 9.42644827e-01 -3.32454847e-01 -2.99082757e-02  1.30914776e+02]
 [ 3.32281583e-01  9.43119156e-01 -1.07334722e-02  2.23437006e+01]
 [ 3.17754626e-02  1.79882858e-04  9.99495016e-01  4.24034470e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.88650248099998
Centerline is valid?  [True, True]
Translation: X:130.97, Y:22.37, Z:4.24
[[ 9.45461028e-01 -3.24359612e-01 -2.99046350e-02  1.30967900e+02]
 [ 3.24181966e-01  9.45933733e-01 -1.07436059e-02  2.23684921e+01]
 [ 3.17725949e-02  4.63117279e-04  9.99495016e-01  4.24219355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.94650248099998
Centerline is valid?  [True, True]
Translation: X:131.02, Y:22.39, Z:4.24
[[ 9.47702155e-01 -3.17752412e-01 -2.99003531e-02  1.31022258e+02]
 [ 3.17571095e-01  9.48173464e-01 -1.07555096e-02  2.23906522e+01]
 [ 3.17683105e-02  6.97531742e-04  9.99495016e-01  4.24404988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.00650248099998
Centerline is valid?  [True, True]
Translation: X:131.08, Y:22.42, Z:4.25
[[ 9.48966857e-01 -3.13955561e-01 -2.98966595e-02  1.31075384e+02]
 [ 3.13772036e-01  9.49437311e-01 -1.07657669e-02  2.24152848e+01]
 [ 3.17649764e-02  8.35620253e-04  9.99495017e-01  4.24589718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.066502481
Centerline is valid?  [True, True]
Translation: X:131.13, Y:22.44, Z:4.25
[[ 9.49347146e-01 -3.12803888e-01 -2.98952219e-02  1.31130146e+02]
 [ 3.12619667e-01  9.49817328e-01 -1.07697572e-02  2.24389371e+01]
 [ 3.17638218e-02  8.78403976e-04  9.99495017e-01  4.24778727e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.12650248099996
Centerline is valid?  [True, True]
Translation: X:131.18, Y:22.46, Z:4.25
[[ 9.48651646e-01 -3.14907170e-01 -2.98919632e-02  1.31183988e+02]
 [ 3.14723707e-01  9.49122124e-01 -1.07787945e-02  2.24626370e+01]
 [ 3.17654433e-02  8.17611647e-04  9.99495017e-01  4.24964692e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.18650248099996
Centerline is valid?  [True, True]
Translation: X:131.23, Y:22.52, Z:4.25
[[ 9.37134671e-01 -3.47685627e-01 -2.98883594e-02  1.31227249e+02]
 [ 3.47518307e-01  9.37611129e-01 -1.07887781e-02  2.25180517e+01]
 [ 3.17747615e-02 -2.76214077e-04  9.99495017e-01  4.25153195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.24650248099996
Centerline is valid?  [True, True]
Translation: X:131.29, Y:22.51, Z:4.25
[[ 9.45518611e-01 -3.24193368e-01 -2.98867324e-02  1.31294676e+02]
 [ 3.24014069e-01  9.45990691e-01 -1.07932834e-02  2.25061886e+01]
 [ 3.17716815e-02  5.21528539e-04  9.99495017e-01  4.25341714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.30650248099997
Centerline is valid?  [True, True]
Translation: X:131.34, Y:22.56, Z:4.26
[[ 9.42329969e-01 -3.33348534e-01 -2.98828437e-02  1.31336146e+02]
 [ 3.33173481e-01  9.42803640e-01 -1.08040391e-02  2.25648346e+01]
 [ 3.17751644e-02  2.24798794e-04  9.99495017e-01  4.25528365e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.36650248099997
Centerline is valid?  [True, True]
Translation: X:131.41, Y:22.55, Z:4.26
[[ 9.39980556e-01 -3.39917091e-01 -2.98818733e-02  1.31405943e+02]
 [ 3.39745263e-01  9.40455406e-01 -1.08067224e-02  2.25472397e+01]
 [ 3.17759589e-02  5.88398052e-06  9.99495017e-01  4.25717846e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 134.42650248099997
Centerline is valid?  [True, True]
Translation: X:131.46, Y:22.57, Z:4.26
[[ 9.38088374e-01 -3.45105012e-01 -2.98786343e-02  1.31459714e+02]
 [ 3.44935525e-01  9.38564066e-01 -1.08156701e-02  2.25729455e+01]
 [ 3.17755545e-02 -1.60148049e-04  9.99495017e-01  4.25905798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.48650248099997
Centerline is valid?  [True, True]
Translation: X:131.51, Y:22.62, Z:4.26
[[ 9.33750675e-01 -3.56675140e-01 -2.98750877e-02  1.31506021e+02]
 [ 3.56511233e-01  9.34228318e-01 -1.08254577e-02  2.26159909e+01]
 [ 3.17713246e-02 -5.42525944e-04  9.99495017e-01  4.26090176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.54650248099998
Centerline is valid?  [True, True]
Translation: X:131.56, Y:22.64, Z:4.26
[[ 9.35293953e-01 -3.52608789e-01 -2.98707687e-02  1.31559849e+02]
 [ 3.52442425e-01  9.35770746e-01 -1.08373620e-02  2.26414085e+01]
 [ 3.17735406e-02 -3.91606983e-04  9.99495017e-01  4.26277838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.60650248099998
Centerline is valid?  [True, True]
Translation: X:131.61, Y:22.66, Z:4.26
[[ 9.35691647e-01 -3.51552417e-01 -2.98670283e-02  1.31614223e+02]
 [ 3.51385186e-01  9.36168136e-01 -1.08476606e-02  2.26640640e+01]
 [ 3.17740815e-02 -3.44765884e-04  9.99495017e-01  4.26464250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.66650248099998
Centerline is valid?  [True, True]
Translation: X:131.66, Y:22.72, Z:4.27
[[ 9.28903007e-01 -3.69116821e-01 -2.98659674e-02  1.31658467e+02]
 [ 3.68958502e-01  9.29382531e-01 -1.08505808e-02  2.27151782e+01]
 [ 3.17620402e-02 -9.40165510e-04  9.99495017e-01  4.26651758e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.72650248099998
Centerline is valid?  [True, True]
Translation: X:131.71, Y:22.74, Z:4.27
[[ 9.31052505e-01 -3.63660986e-01 -2.98650432e-02  1.31711641e+02]
 [ 3.63499776e-01  9.31531064e-01 -1.08531238e-02  2.27386727e+01]
 [ 3.17670732e-02 -7.51108411e-04  9.99495017e-01  4.26836004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.78650248099999
Centerline is valid?  [True, True]
Translation: X:131.78, Y:22.73, Z:4.27
[[ 9.43029030e-01 -3.31367752e-01 -2.98606883e-02  1.31779616e+02]
 [ 3.31189771e-01  9.43501609e-01 -1.08650925e-02  2.27265791e+01]
 [ 3.17739487e-02  3.56543090e-04  9.99495017e-01  4.27025222e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.846502481
Centerline is valid?  [True, True]
Translation: X:131.82, Y:22.78, Z:4.27
[[ 9.33630145e-01 -3.56992021e-01 -2.98571419e-02  1.31821403e+02]
 [ 3.56826697e-01  9.34107299e-01 -1.08748292e-02  2.27841309e+01]
 [ 3.17720015e-02 -5.00756985e-04  9.99495017e-01  4.27212048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.90650248099996
Centerline is valid?  [True, True]
Translation: X:131.89, Y:22.78, Z:4.27
[[ 9.44122283e-01 -3.28240334e-01 -2.98562676e-02  1.31886529e+02]
 [ 3.28060404e-01  9.44594123e-01 -1.08772292e-02  2.27761031e+01]
 [ 3.17724002e-02  4.74775252e-04  9.99495017e-01  4.27397709e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.96650248099996
Centerline is valid?  [True, True]
Translation: X:131.94, Y:22.80, Z:4.28
[[ 9.43277057e-01 -3.30661549e-01 -2.98551970e-02  1.31939224e+02]
 [ 3.30482737e-01  9.43749322e-01 -1.08801668e-02  2.28028497e+01]
 [ 3.17734748e-02  3.96384462e-04  9.99495017e-01  4.27584044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.02650248099997
Centerline is valid?  [True, True]
Translation: X:131.98, Y:22.86, Z:4.28
[[ 9.34937309e-01 -3.53554748e-01 -2.98541287e-02  1.31980710e+02]
 [ 3.53387406e-01  9.35413759e-01 -1.08830973e-02  2.28575542e+01]
 [ 3.17737335e-02 -3.75059371e-04  9.99495017e-01  4.27767345e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.08650248099997
Centerline is valid?  [True, True]
Translation: X:132.04, Y:22.87, Z:4.28
[[ 9.47963431e-01 -3.16976564e-01 -2.98528169e-02  1.32039445e+02]
 [ 3.16790731e-01  9.48432977e-01 -1.08866946e-02  2.28691702e+01]
 [ 3.17642230e-02  8.63092737e-04  9.99495017e-01  4.27955216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.14650248099997
Centerline is valid?  [True, True]
Translation: X:132.10, Y:22.89, Z:4.28
[[ 9.37802635e-01 -3.45883274e-01 -2.98492654e-02  1.32095768e+02]
 [ 3.45711610e-01  9.38277545e-01 -1.08964232e-02  2.28859485e+01]
 [ 3.17757860e-02 -1.00543193e-04  9.99495017e-01  4.28141142e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.20650248099997
Centerline is valid?  [True, True]
Translation: X:132.15, Y:22.91, Z:4.28
[[ 9.35183065e-01 -3.52904682e-01 -2.98482989e-02  1.32148968e+02]
 [ 3.52736499e-01  9.35659218e-01 -1.08990703e-02  2.29096126e+01]
 [ 3.17741689e-02 -3.35958522e-04  9.99495017e-01  4.28325665e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.26650248099997
Centerline is valid?  [True, True]
Translation: X:132.20, Y:22.94, Z:4.29
[[ 9.30952931e-01 -3.63917546e-01 -2.98439118e-02  1.32201006e+02]
 [ 3.63754610e-01  9.31430906e-01 -1.09110697e-02  2.29359760e+01]
 [ 3.17682715e-02 -6.98168196e-04  9.99495017e-01  4.28509120e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.32650248099998
Centerline is valid?  [True, True]
Translation: X:132.26, Y:22.96, Z:4.29
[[ 9.31674445e-01 -3.62066499e-01 -2.98425686e-02  1.32255139e+02]
 [ 3.61902495e-01  9.32152054e-01 -1.09147422e-02  2.29595507e+01]
 [ 3.17696742e-02 -6.31113664e-04  9.99495017e-01  4.28696279e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.38650248099998
Centerline is valid?  [True, True]
Translation: X:132.31, Y:22.99, Z:4.29
[[ 9.28691697e-01 -3.69650343e-01 -2.98388345e-02  1.32308568e+02]
 [ 3.69489911e-01  9.29170518e-01 -1.09249412e-02  2.29853361e+01]
 [ 3.17637735e-02 -8.79246126e-04  9.99495017e-01  4.28883381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.44650248099998
Centerline is valid?  [True, True]
Translation: X:132.36, Y:23.02, Z:4.29
[[ 9.28919478e-01 -3.69077847e-01 -2.98353201e-02  1.32359363e+02]
 [ 3.68916813e-01  9.29398096e-01 -1.09345303e-02  2.30182440e+01]
 [ 3.17645826e-02 -8.49453015e-04  9.99495017e-01  4.29070461e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.50650248099998
Centerline is valid?  [True, True]
Translation: X:132.41, Y:23.04, Z:4.29
[[ 9.29567478e-01 -3.67442812e-01 -2.98342759e-02  1.32412391e+02]
 [ 3.67280844e-01  9.30045781e-01 -1.09373785e-02  2.30421888e+01]
 [ 3.17661036e-02 -7.90526654e-04  9.99495017e-01  4.29254789e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.566502481
Centerline is valid?  [True, True]
Translation: X:132.47, Y:23.07, Z:4.29
[[ 9.32515311e-01 -3.59896341e-01 -2.98298276e-02  1.32465375e+02]
 [ 3.59730114e-01  9.32992151e-01 -1.09494971e-02  2.30689966e+01]
 [ 3.17716790e-02 -5.20113599e-04  9.99495017e-01  4.29441617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 135.62650248099996
Centerline is valid?  [True, True]
Translation: X:132.52, Y:23.10, Z:4.30
[[ 9.33773939e-01 -3.56618345e-01 -2.98259312e-02  1.32516912e+02]
 [ 3.56450106e-01  9.34250073e-01 -1.09601006e-02  2.30970345e+01]
 [ 3.17734513e-02 -3.97200052e-04  9.99495018e-01  4.29625576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.68650248099996
Centerline is valid?  [True, True]
Translation: X:132.57, Y:23.12, Z:4.30
[[ 9.36245976e-01 -3.50077086e-01 -2.98245751e-02  1.32570163e+02]
 [ 3.49905403e-01  9.36720879e-01 -1.09637895e-02  2.31246904e+01]
 [ 3.17754737e-02 -1.70976141e-04  9.99495018e-01  4.29814612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.74650248099996
Centerline is valid?  [True, True]
Translation: X:132.63, Y:23.13, Z:4.30
[[ 9.46771835e-01 -3.20521109e-01 -2.98213271e-02  1.32631631e+02]
 [ 3.20334328e-01  9.47241004e-01 -1.09726170e-02  2.31283045e+01]
 [ 3.17649392e-02  8.35769954e-04  9.99495018e-01  4.30001510e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.80650248099997
Centerline is valid?  [True, True]
Translation: X:132.68, Y:23.17, Z:4.30
[[ 9.37768004e-01 -3.45979903e-01 -2.98174021e-02  1.32679486e+02]
 [ 3.45805525e-01  9.38241923e-01 -1.09832726e-02  2.31703910e+01]
 [ 3.17759282e-02 -1.12607932e-05  9.99495018e-01  4.30189937e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.86650248099997
Centerline is valid?  [True, True]
Translation: X:132.73, Y:23.19, Z:4.30
[[ 9.39091316e-01 -3.42372058e-01 -2.98139979e-02  1.32733546e+02]
 [ 3.42195566e-01  9.39564452e-01 -1.09925055e-02  2.31928125e+01]
 [ 3.17756993e-02  1.20748556e-04  9.99495018e-01  4.30375370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.92650248099997
Centerline is valid?  [True, True]
Translation: X:132.79, Y:23.21, Z:4.31
[[ 9.39058593e-01 -3.42461982e-01 -2.98118989e-02  1.32788384e+02]
 [ 3.42285354e-01  9.39531679e-01 -1.09981950e-02  2.32134585e+01]
 [ 3.17756871e-02  1.23773128e-04  9.99495018e-01  4.30561356e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.98650248099997
Centerline is valid?  [True, True]
Translation: X:132.85, Y:23.23, Z:4.31
[[ 9.39025457e-01 -3.42552924e-01 -2.98108054e-02  1.32845001e+02]
 [ 3.42376249e-01  9.39498525e-01 -1.10011581e-02  2.32321082e+01]
 [ 3.17756866e-02  1.23855758e-04  9.99495018e-01  4.30750593e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.04650248099998
Centerline is valid?  [True, True]
Translation: X:132.90, Y:23.25, Z:4.31
[[ 9.39475764e-01 -3.41316281e-01 -2.98074572e-02  1.32901186e+02]
 [ 3.41138696e-01  9.39948491e-01 -1.10102227e-02  2.32501389e+01]
 [ 3.17754426e-02  1.75360316e-04  9.99495018e-01  4.30937537e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.10650248099998
Centerline is valid?  [True, True]
Translation: X:132.97, Y:23.24, Z:4.31
[[ 9.47477116e-01 -3.18431611e-01 -2.98064298e-02  1.32967784e+02]
 [ 3.18242526e-01  9.47945362e-01 -1.10130032e-02  2.32423574e+01]
 [ 3.17617552e-02  9.48894976e-04  9.99495018e-01  4.31127421e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.16650248099998
Centerline is valid?  [True, True]
Translation: X:133.01, Y:23.29, Z:4.31
[[ 9.33222477e-01 -3.58060877e-01 -2.98029630e-02  1.33014240e+02]
 [ 3.57891385e-01  9.33698165e-01 -1.10223769e-02  2.32854476e+01]
 [ 3.17736538e-02 -3.79893839e-04  9.99495018e-01  4.31312940e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.22650248099998
Centerline is valid?  [True, True]
Translation: X:133.07, Y:23.30, Z:4.31
[[ 9.36535473e-01 -3.49304007e-01 -2.97996434e-02  1.33071149e+02]
 [ 3.49129781e-01  9.37009448e-01 -1.10313444e-02  2.33010449e+01]
 [ 3.17758402e-02 -7.26976323e-05  9.99495018e-01  4.31499350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.28650248099999
Centerline is valid?  [True, True]
Translation: X:133.13, Y:23.31, Z:4.32
[[ 9.37622429e-01 -3.46376097e-01 -2.97956376e-02  1.33130226e+02]
 [ 3.46200048e-01  9.38095730e-01 -1.10421536e-02  2.33088889e+01]
 [ 3.17758984e-02  3.81197489e-05  9.99495018e-01  4.31683544e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.346502481
Centerline is valid?  [True, True]
Translation: X:133.19, Y:23.33, Z:4.32
[[ 9.34198875e-01 -3.55506344e-01 -2.97943051e-02  1.33186227e+02]
 [ 3.55334806e-01  9.34673829e-01 -1.10457477e-02  2.33288377e+01]
 [ 3.17747906e-02 -2.68028549e-04  9.99495018e-01  4.31872327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.40650248099996
Centerline is valid?  [True, True]
Translation: X:133.24, Y:23.35, Z:4.32
[[ 9.30315497e-01 -3.65548332e-01 -2.97908134e-02  1.33241314e+02]
 [ 3.65381618e-01  9.30792166e-01 -1.10551568e-02  2.33502511e+01]
 [ 3.17702499e-02 -6.00231915e-04  9.99495018e-01  4.32059681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.46650248099996
Centerline is valid?  [True, True]
Translation: X:133.30, Y:23.37, Z:4.32
[[ 9.28888237e-01 -3.69160165e-01 -2.97895191e-02  1.33295900e+02]
 [ 3.68995193e-01  9.29365511e-01 -1.10586436e-02  2.33729133e+01]
 [ 3.17677623e-02 -7.19945371e-04  9.99495018e-01  4.32247253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.52650248099997
Centerline is valid?  [True, True]
Translation: X:133.35, Y:23.41, Z:4.32
[[ 9.24958570e-01 -3.78899016e-01 -2.97855400e-02  1.33346772e+02]
 [ 3.78738723e-01  9.25437437e-01 -1.10693504e-02  2.34061030e+01]
 [ 3.17588198e-02 -1.04224687e-03  9.99495018e-01  4.32435020e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.58650248099997
Centerline is valid?  [True, True]
Translation: X:133.40, Y:23.43, Z:4.33
[[ 9.28061321e-01 -3.71234504e-01 -2.97846793e-02  1.33402659e+02]
 [ 3.71070180e-01  9.28538820e-01 -1.10716661e-02  2.34260688e+01]
 [ 3.17664154e-02 -7.77021258e-04  9.99495018e-01  4.32623552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.64650248099997
Centerline is valid?  [True, True]
Translation: X:133.46, Y:23.44, Z:4.33
[[ 9.28697786e-01 -3.69639576e-01 -2.97826588e-02  1.33459635e+02]
 [ 3.69474259e-01  9.29174940e-01 -1.10770984e-02  2.34411813e+01]
 [ 3.17678342e-02 -7.16649022e-04  9.99495018e-01  4.32809785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.70650248099997
Centerline is valid?  [True, True]
Translation: X:133.51, Y:23.47, Z:4.33
[[ 9.28475006e-01 -3.70199124e-01 -2.97787335e-02  1.33509570e+02]
 [ 3.70033756e-01  9.28952143e-01 -1.10876408e-02  2.34727040e+01]
 [ 3.17676532e-02 -7.24539225e-04  9.99495018e-01  4.32992955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.76650248099997
Centerline is valid?  [True, True]
Translation: X:133.57, Y:23.49, Z:4.33
[[ 9.33828642e-01 -3.56479393e-01 -2.97743116e-02  1.33566317e+02]
 [ 3.56306635e-01  9.34303154e-01 -1.10995026e-02  2.34880082e+01]
 [ 3.17749772e-02 -2.43751292e-04  9.99495018e-01  4.33178362e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 136.82650248099998
Centerline is valid?  [True, True]
Translation: X:133.62, Y:23.52, Z:4.33
[[ 9.25518288e-01 -3.77530730e-01 -2.97732420e-02  1.33617590e+02]
 [ 3.77368667e-01  9.25996558e-01 -1.11023708e-02  2.35210266e+01]
 [ 3.17614058e-02 -9.60041431e-04  9.99495018e-01  4.33367617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.88650248099998
Centerline is valid?  [True, True]
Translation: X:133.67, Y:23.54, Z:4.34
[[ 9.30704360e-01 -3.64558844e-01 -2.97698394e-02  1.33674294e+02]
 [ 3.64389822e-01  9.31180215e-01 -1.11114870e-02  2.35391438e+01]
 [ 3.17718764e-02 -5.06317100e-04  9.99495018e-01  4.33556173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.94650248099998
Centerline is valid?  [True, True]
Translation: X:133.73, Y:23.57, Z:4.34
[[ 9.26318655e-01 -3.75563202e-01 -2.97662715e-02  1.33726329e+02]
 [ 3.75399524e-01  9.26796374e-01 -1.11210368e-02  2.35707065e+01]
 [ 3.17639247e-02 -8.72620353e-04  9.99495018e-01  4.33745754e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.00650248099998
Centerline is valid?  [True, True]
Translation: X:133.79, Y:23.58, Z:4.34
[[ 9.36141719e-01 -3.50361007e-01 -2.97631723e-02  1.33785989e+02]
 [ 3.50184199e-01  9.36614737e-01 -1.11293250e-02  2.35779481e+01]
 [ 3.17759073e-02 -3.96719236e-06  9.99495018e-01  4.33931045e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.066502481
Centerline is valid?  [True, True]
Translation: X:133.84, Y:23.61, Z:4.34
[[ 9.29933802e-01 -3.66520593e-01 -2.97620309e-02  1.33837168e+02]
 [ 3.66351906e-01  9.30409776e-01 -1.11323766e-02  2.36101356e+01]
 [ 3.17711298e-02 -5.51003395e-04  9.99495018e-01  4.34119130e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.12650248099996
Centerline is valid?  [True, True]
Translation: X:133.89, Y:23.64, Z:4.34
[[ 9.27080250e-01 -3.73679789e-01 -2.97594609e-02  1.33888357e+02]
 [ 3.73514557e-01  9.27557434e-01 -1.11392425e-02  2.36370392e+01]
 [ 3.17661190e-02 -7.88620091e-04  9.99495018e-01  4.34301171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.18650248099996
Centerline is valid?  [True, True]
Translation: X:133.94, Y:23.66, Z:4.34
[[ 9.27753902e-01 -3.72004288e-01 -2.97574785e-02  1.33942117e+02]
 [ 3.71838024e-01  9.28230727e-01 -1.11445357e-02  2.36611208e+01]
 [ 3.17676210e-02 -7.25575507e-04  9.99495018e-01  4.34487808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.24650248099996
Centerline is valid?  [True, True]
Translation: X:134.00, Y:23.67, Z:4.35
[[ 9.35952548e-01 -3.50866877e-01 -2.97533540e-02  1.34000696e+02]
 [ 3.50689491e-01  9.36425349e-01 -1.11555365e-02  2.36721036e+01]
 [ 3.17759031e-02  6.86422466e-06  9.99495018e-01  4.34673887e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.30650248099997
Centerline is valid?  [True, True]
Translation: X:134.05, Y:23.71, Z:4.35
[[ 9.27083672e-01 -3.73671879e-01 -2.97521861e-02  1.34048969e+02]
 [ 3.73506020e-01  9.27560638e-01 -1.11586504e-02  2.37070598e+01]
 [ 3.17666306e-02 -7.67618024e-04  9.99495018e-01  4.34856446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.36650248099997
Centerline is valid?  [True, True]
Translation: X:134.10, Y:23.73, Z:4.35
[[ 9.29421981e-01 -3.67817446e-01 -2.97507641e-02  1.34102926e+02]
 [ 3.67648461e-01  9.29897849e-01 -1.11624404e-02  2.37314278e+01]
 [ 3.17709119e-02 -5.63205192e-04  9.99495018e-01  4.35044079e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.42650248099997
Centerline is valid?  [True, True]
Translation: X:134.16, Y:23.74, Z:4.35
[[ 9.36364960e-01 -3.49765338e-01 -2.97467661e-02  1.34161102e+02]
 [ 3.49586839e-01  9.36837341e-01 -1.11730844e-02  2.37435824e+01]
 [ 3.17758390e-02  6.30068091e-05  9.99495019e-01  4.35230275e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.48650248099997
Centerline is valid?  [True, True]
Translation: X:134.21, Y:23.78, Z:4.35
[[ 9.31507441e-01 -3.62504163e-01 -2.97425617e-02  1.34211785e+02]
 [ 3.62331766e-01  9.31982083e-01 -1.11842653e-02  2.37765177e+01]
 [ 3.17738774e-02 -3.58448568e-04  9.99495019e-01  4.35417383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.54650248099998
Centerline is valid?  [True, True]
Translation: X:134.27, Y:23.78, Z:4.36
[[ 9.40452867e-01 -3.38620491e-01 -2.97416840e-02  1.34273717e+02]
 [ 3.38435967e-01  9.40922928e-01 -1.11865989e-02  2.37798452e+01]
 [ 3.17726440e-02  4.54813403e-04  9.99495019e-01  4.35605280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.60650248099998
Centerline is valid?  [True, True]
Translation: X:134.32, Y:23.82, Z:4.36
[[ 9.28338294e-01 -3.70545134e-01 -2.97374484e-02  1.34320766e+02]
 [ 3.70376413e-01  9.28814255e-01 -1.11978470e-02  2.38184779e+01]
 [ 3.17698738e-02 -6.18659288e-04  9.99495019e-01  4.35787965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.66650248099998
Centerline is valid?  [True, True]
Translation: X:134.38, Y:23.83, Z:4.36
[[ 9.27705238e-01 -3.72127347e-01 -2.97359980e-02  1.34377825e+02]
 [ 3.71959314e-01  9.28181443e-01 -1.12016973e-02  2.38333141e+01]
 [ 3.17688594e-02 -6.68708137e-04  9.99495019e-01  4.35974159e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.72650248099998
Centerline is valid?  [True, True]
Translation: X:134.43, Y:23.85, Z:4.36
[[ 9.24382736e-01 -3.80305638e-01 -2.97351395e-02  1.34432003e+02]
 [ 3.80141745e-01  9.24860381e-01 -1.12039758e-02  2.38532661e+01]
 [ 3.17617876e-02 -9.46805991e-04  9.99495019e-01  4.36157589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.78650248099999
Centerline is valid?  [True, True]
Translation: X:134.49, Y:23.87, Z:4.36
[[ 9.21822352e-01 -3.86470563e-01 -2.97330595e-02  1.34486906e+02]
 [ 3.86309685e-01  9.22301022e-01 -1.12094930e-02  2.38748969e+01]
 [ 3.17549702e-02 -1.15300768e-03  9.99495019e-01  4.36344898e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.84650248099996
Centerline is valid?  [True, True]
Translation: X:134.54, Y:23.89, Z:4.37
[[ 9.22145107e-01 -3.85700094e-01 -2.97294400e-02  1.34544034e+02]
 [ 3.85538508e-01  9.22623537e-01 -1.12190843e-02  2.38901184e+01]
 [ 3.17562830e-02 -1.11622027e-03  9.99495019e-01  4.36531429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.90650248099996
Centerline is valid?  [True, True]
Translation: X:134.60, Y:23.91, Z:4.37
[[ 9.22227372e-01 -3.85503436e-01 -2.97283487e-02  1.34599882e+02]
 [ 3.85341654e-01  9.22705737e-01 -1.12219752e-02  2.39117131e+01]
 [ 3.17566279e-02 -1.10635836e-03  9.99495019e-01  4.36721638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.96650248099996
Centerline is valid?  [True, True]
Translation: X:134.65, Y:23.93, Z:4.37
[[ 9.22446473e-01 -3.84979129e-01 -2.97249936e-02  1.34654982e+02]
 [ 3.84816789e-01  9.22924648e-01 -1.12308553e-02  2.39335590e+01]
 [ 3.17575742e-02 -1.07881370e-03  9.99495019e-01  4.36909601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 138.02650248099997
Centerline is valid?  [True, True]
Translation: X:134.71, Y:23.96, Z:4.37
[[ 9.23603407e-01 -3.82195349e-01 -2.97230808e-02  1.34709352e+02]
 [ 3.82031405e-01  9.24081035e-01 -1.12359155e-02  2.39568772e+01]
 [ 3.17608499e-02 -9.77620503e-04  9.99495019e-01  4.37097244e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.08650248099997
Centerline is valid?  [True, True]
Translation: X:134.77, Y:23.97, Z:4.37
[[ 9.26068794e-01 -3.76182634e-01 -2.97189350e-02  1.34765667e+02]
 [ 3.76015237e-01  9.26545223e-01 -1.12468703e-02  2.39749239e+01]
 [ 3.17668145e-02 -7.59396794e-04  9.99495019e-01  4.37284445e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.14650248099997
Centerline is valid?  [True, True]
Translation: X:134.82, Y:24.00, Z:4.37
[[ 9.27395928e-01 -3.72898972e-01 -2.97178377e-02  1.34819518e+02]
 [ 3.72729796e-01  9.27871727e-01 -1.12497689e-02  2.39969622e+01]
 [ 3.17693687e-02 -6.43733718e-04  9.99495019e-01  4.37469219e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.20650248099997
Centerline is valid?  [True, True]
Translation: X:134.87, Y:24.02, Z:4.38
[[ 9.27869345e-01 -3.71719536e-01 -2.97164207e-02  1.34874252e+02]
 [ 3.71549635e-01  9.28344886e-01 -1.12535108e-02  2.40178502e+01]
 [ 3.17702370e-02 -5.99337564e-04  9.99495019e-01  4.37655278e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.26650248099997
Centerline is valid?  [True, True]
Translation: X:134.93, Y:24.04, Z:4.38
[[ 9.29310554e-01 -3.68101981e-01 -2.97123835e-02  1.34930082e+02]
 [ 3.67929888e-01  9.29785307e-01 -1.12641599e-02  2.40387420e+01]
 [ 3.17724972e-02 -4.64171261e-04  9.99495019e-01  4.37844254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.32650248099998
Centerline is valid?  [True, True]
Translation: X:134.98, Y:24.06, Z:4.38
[[ 9.28407171e-01 -3.70374838e-01 -2.97086454e-02  1.34984617e+02]
 [ 3.70203593e-01  9.28882230e-01 -1.12740105e-02  2.40614551e+01]
 [ 3.17714426e-02 -5.31375071e-04  9.99495019e-01  4.38031471e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.38650248099998
Centerline is valid?  [True, True]
Translation: X:135.04, Y:24.08, Z:4.38
[[ 9.28015040e-01 -3.71356597e-01 -2.97045890e-02  1.35037542e+02]
 [ 3.71185513e-01  9.28490157e-01 -1.12846882e-02  2.40849652e+01]
 [ 3.17710619e-02 -5.53552720e-04  9.99495019e-01  4.38214765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.44650248099998
Centerline is valid?  [True, True]
Translation: X:135.09, Y:24.11, Z:4.38
[[ 9.27127766e-01 -3.73566623e-01 -2.96998936e-02  1.35091758e+02]
 [ 3.73396275e-01  9.27603147e-01 -1.12970324e-02  2.41098596e+01]
 [ 3.17699090e-02 -6.16037221e-04  9.99495019e-01  4.38403386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.50650248099998
Centerline is valid?  [True, True]
Translation: X:135.15, Y:24.13, Z:4.39
[[ 9.27582909e-01 -3.72435359e-01 -2.96959661e-02  1.35145627e+02]
 [ 3.72264101e-01  9.28057963e-01 -1.13073470e-02  2.41317500e+01]
 [ 3.17708336e-02 -5.66240302e-04  9.99495019e-01  4.38587687e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.566502481
Centerline is valid?  [True, True]
Translation: X:135.20, Y:24.16, Z:4.39
[[ 9.27005883e-01 -3.73869412e-01 -2.96943764e-02  1.35198059e+02]
 [ 3.73698756e-01  9.27481153e-01 -1.13115201e-02  2.41584024e+01]
 [ 3.17700058e-02 -6.10905834e-04  9.99495019e-01  4.38773414e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.62650248099996
Centerline is valid?  [True, True]
Translation: X:135.25, Y:24.18, Z:4.39
[[ 9.28364827e-01 -3.70482495e-01 -2.96895389e-02  1.35254196e+02]
 [ 3.70309699e-01  9.28839324e-01 -1.13242030e-02  2.41766791e+01]
 [ 3.17722302e-02 -4.81332428e-04  9.99495019e-01  4.38960253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.68650248099996
Centerline is valid?  [True, True]
Translation: X:135.31, Y:24.20, Z:4.39
[[ 9.27041548e-01 -3.73781439e-01 -2.96884401e-02  1.35306289e+02]
 [ 3.73610240e-01  9.27516623e-01 -1.13270829e-02  2.42046808e+01]
 [ 3.17703751e-02 -5.91228806e-04  9.99495019e-01  4.39146578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.74650248099996
Centerline is valid?  [True, True]
Translation: X:135.36, Y:24.22, Z:4.39
[[ 9.27624075e-01 -3.72333528e-01 -2.96870244e-02  1.35361611e+02]
 [ 3.72161468e-01  9.28098839e-01 -1.13307922e-02  2.42245892e+01]
 [ 3.17713267e-02 -5.37650953e-04  9.99495019e-01  4.39333285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.80650248099997
Centerline is valid?  [True, True]
Translation: X:135.42, Y:24.25, Z:4.40
[[ 9.27819979e-01 -3.71845181e-01 -2.96858299e-02  1.35415663e+02]
 [ 3.71672771e-01  9.28294616e-01 -1.13339207e-02  2.42475395e+01]
 [ 3.17716599e-02 -5.17576564e-04  9.99495019e-01  4.39519696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.86650248099997
Centerline is valid?  [True, True]
Translation: X:135.47, Y:24.27, Z:4.40
[[ 9.29574029e-01 -3.67438360e-01 -2.96846083e-02  1.35468117e+02]
 [ 3.67263597e-01  9.30047805e-01 -1.13371194e-02  2.42727139e+01]
 [ 3.17737973e-02 -3.63384278e-04  9.99495019e-01  4.39703880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.92650248099997
Centerline is valid?  [True, True]
Translation: X:135.52, Y:24.30, Z:4.40
[[ 9.28922068e-01 -3.69083576e-01 -2.96834156e-02  1.35522465e+02]
 [ 3.68909553e-01  9.29396116e-01 -1.13402412e-02  2.42973178e+01]
 [ 3.17731480e-02 -4.16295249e-04  9.99495019e-01  4.39893052e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.98650248099997
Centerline is valid?  [True, True]
Translation: X:135.57, Y:24.32, Z:4.40
[[ 9.27982715e-01 -3.71439374e-01 -2.96794944e-02  1.35574565e+02]
 [ 3.71266226e-01  9.28457083e-01 -1.13504944e-02  2.43211159e+01]
 [ 3.17721574e-02 -4.85931247e-04  9.99495019e-01  4.40074298e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.04650248099998
Centerline is valid?  [True, True]
Translation: X:135.63, Y:24.34, Z:4.40
[[ 9.25519191e-01 -3.77536061e-01 -2.96774329e-02  1.35629497e+02]
 [ 3.77365865e-01  9.25994626e-01 -1.13558819e-02  2.43442694e+01]
 [ 3.17683984e-02 -6.89163493e-04  9.99495019e-01  4.40263454e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.10650248099998
Centerline is valid?  [True, True]
Translation: X:135.68, Y:24.37, Z:4.40
[[ 9.22987910e-01 -3.83682965e-01 -2.96766058e-02  1.35683985e+02]
 [ 3.83515866e-01  9.23464442e-01 -1.13580430e-02  2.43677722e+01]
 [ 3.17631779e-02 -8.98112804e-04  9.99495019e-01  4.40451845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.16650248099998
Centerline is valid?  [True, True]
Translation: X:135.74, Y:24.39, Z:4.41
[[ 9.22583840e-01 -3.84653882e-01 -2.96723725e-02  1.35738039e+02]
 [ 3.84486929e-01  9.23060423e-01 -1.13690917e-02  2.43907585e+01]
 [ 3.17625580e-02 -9.19699066e-04  9.99495020e-01  4.40637946e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 139.22650248099998
Centerline is valid?  [True, True]
Translation: X:135.79, Y:24.41, Z:4.41
[[ 9.22570171e-01 -3.84686732e-01 -2.96714896e-02  1.35791454e+02]
 [ 3.84519722e-01  9.23046735e-01 -1.13713954e-02  2.44133158e+01]
 [ 3.17625965e-02 -9.18362740e-04  9.99495020e-01  4.40822072e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.28650248099999
Centerline is valid?  [True, True]
Translation: X:135.85, Y:24.44, Z:4.41
[[ 9.23165968e-01 -3.83254855e-01 -2.96700519e-02  1.35845711e+02]
 [ 3.83086986e-01  9.23642229e-01 -1.13751453e-02  2.44380131e+01]
 [ 3.17640926e-02 -8.65063710e-04  9.99495020e-01  4.41011066e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.34650248099996
Centerline is valid?  [True, True]
Translation: X:135.90, Y:24.46, Z:4.41
[[ 9.24954432e-01 -3.78918483e-01 -2.96661673e-02  1.35899289e+02]
 [ 3.78748056e-01  9.25429784e-01 -1.13852675e-02  2.44601066e+01]
 [ 3.17680431e-02 -7.05149527e-04  9.99495020e-01  4.41194795e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.40650248099996
Centerline is valid?  [True, True]
Translation: X:135.95, Y:24.48, Z:4.41
[[ 9.28189670e-01 -3.70923094e-01 -2.96647166e-02  1.35953324e+02]
 [ 3.70748451e-01  9.28663489e-01 -1.13890460e-02  2.44835138e+01]
 [ 3.17729994e-02 -4.26952924e-04  9.99495020e-01  4.41381665e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.46650248099996
Centerline is valid?  [True, True]
Translation: X:136.01, Y:24.51, Z:4.42
[[ 9.31021964e-01 -3.63755901e-01 -2.96605494e-02  1.36008374e+02]
 [ 3.63577264e-01  9.31494292e-01 -1.13998884e-02  2.45056990e+01]
 [ 3.17754091e-02 -1.70354865e-04  9.99495020e-01  4.41569838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.52650248099997
Centerline is valid?  [True, True]
Translation: X:136.06, Y:24.53, Z:4.42
[[ 9.34030210e-01 -3.55960745e-01 -2.96566339e-02  1.36063315e+02]
 [ 3.55777843e-01  9.34500903e-01 -1.14100654e-02  2.45262884e+01]
 [ 3.17756865e-02  1.06172549e-04  9.99495020e-01  4.41755897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.58650248099997
Centerline is valid?  [True, True]
Translation: X:136.12, Y:24.55, Z:4.42
[[ 9.35578733e-01 -3.51870959e-01 -2.96523463e-02  1.36116540e+02]
 [ 3.51685647e-01  9.36048483e-01 -1.14211971e-02  2.45487766e+01]
 [ 3.17748213e-02  2.57124509e-04  9.99495020e-01  4.41938990e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.64650248099997
Centerline is valid?  [True, True]
Translation: X:136.17, Y:24.57, Z:4.42
[[ 9.36764645e-01 -3.48701688e-01 -2.96501663e-02  1.36172445e+02]
 [ 3.48514607e-01  9.37233693e-01 -1.14268536e-02  2.45683089e+01]
 [ 3.17736980e-02  3.70756355e-04  9.99495020e-01  4.42126904e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.70650248099997
Centerline is valid?  [True, True]
Translation: X:136.23, Y:24.59, Z:4.42
[[ 9.36838699e-01 -3.48503013e-01 -2.96462716e-02  1.36228550e+02]
 [ 3.48315514e-01  9.37307580e-01 -1.14369494e-02  2.45864275e+01]
 [ 3.17734864e-02  3.88320461e-04  9.99495020e-01  4.42313590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.76650248099997
Centerline is valid?  [True, True]
Translation: X:136.28, Y:24.61, Z:4.42
[[ 9.35709873e-01 -3.51522939e-01 -2.96421553e-02  1.36282688e+02]
 [ 3.51336615e-01  9.36179222e-01 -1.14476081e-02  2.46069829e+01]
 [ 3.17744667e-02  2.97265415e-04  9.99495020e-01  4.42497197e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.82650248099998
Centerline is valid?  [True, True]
Translation: X:136.34, Y:24.62, Z:4.43
[[ 9.34331953e-01 -3.55169357e-01 -2.96399923e-02  1.36339697e+02]
 [ 3.54984687e-01  9.34801955e-01 -1.14532057e-02  2.46243468e+01]
 [ 3.17753504e-02  1.79352612e-04  9.99495020e-01  4.42685895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.88650248099998
Centerline is valid?  [True, True]
Translation: X:136.40, Y:24.64, Z:4.43
[[ 9.33807532e-01 -3.56546188e-01 -2.96362949e-02  1.36396051e+02]
 [ 3.56361908e-01  9.34277686e-01 -1.14627650e-02  2.46407413e+01]
 [ 3.17755342e-02  1.42769680e-04  9.99495020e-01  4.42871348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.94650248099998
Centerline is valid?  [True, True]
Translation: X:136.45, Y:24.66, Z:4.43
[[ 9.32940706e-01 -3.58808298e-01 -2.96351815e-02  1.36451578e+02]
 [ 3.58625067e-01  9.33411271e-01 -1.14656428e-02  2.46582003e+01]
 [ 3.17757802e-02  6.88458873e-05  9.99495020e-01  4.43055880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.00650248099998
Centerline is valid?  [True, True]
Translation: X:136.51, Y:24.68, Z:4.43
[[ 9.31507404e-01 -3.62513425e-01 -2.96306209e-02  1.36507913e+02]
 [ 3.62331691e-01  9.31978548e-01 -1.14774167e-02  2.46756673e+01]
 [ 3.17758207e-02 -4.48142998e-05  9.99495020e-01  4.43242382e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.066502481
Centerline is valid?  [True, True]
Translation: X:136.57, Y:24.69, Z:4.43
[[ 9.30446715e-01 -3.65227578e-01 -2.96264628e-02  1.36565357e+02]
 [ 3.65046877e-01  9.30918257e-01 -1.14881399e-02  2.46932484e+01]
 [ 3.17756006e-02 -1.25945727e-04  9.99495020e-01  4.43432345e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.12650248099996
Centerline is valid?  [True, True]
Translation: X:136.62, Y:24.71, Z:4.44
[[ 9.29160560e-01 -3.68487631e-01 -2.96229694e-02  1.36621867e+02]
 [ 3.68308297e-01  9.29632623e-01 -1.14971408e-02  2.47116814e+01]
 [ 3.17750330e-02 -2.27695599e-04  9.99495020e-01  4.43620596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.18650248099996
Centerline is valid?  [True, True]
Translation: X:136.68, Y:24.73, Z:4.44
[[ 9.28156003e-01 -3.71010991e-01 -2.96188875e-02  1.36677197e+02]
 [ 3.70832605e-01  9.28628426e-01 -1.15076469e-02  2.47297018e+01]
 [ 3.17744044e-02 -3.02757624e-04  9.99495020e-01  4.43804791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.24650248099996
Centerline is valid?  [True, True]
Translation: X:136.73, Y:24.75, Z:4.44
[[ 9.28479308e-01 -3.70201328e-01 -2.96167538e-02  1.36734168e+02]
 [ 3.70022355e-01  9.28951508e-01 -1.15131357e-02  2.47465842e+01]
 [ 3.17747063e-02 -2.69152717e-04  9.99495020e-01  4.43992781e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.30650248099997
Centerline is valid?  [True, True]
Translation: X:136.79, Y:24.77, Z:4.44
[[ 9.28409708e-01 -3.70376166e-01 -2.96126637e-02  1.36788803e+02]
 [ 3.70196946e-01  9.28881815e-01 -1.15236464e-02  2.47677665e+01]
 [ 3.17747487e-02 -2.63852508e-04  9.99495020e-01  4.44178550e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.36650248099997
Centerline is valid?  [True, True]
Translation: X:136.84, Y:24.79, Z:4.44
[[ 9.30466056e-01 -3.65179760e-01 -2.96084806e-02  1.36844609e+02]
 [ 3.64997562e-01  9.30937021e-01 -1.15343842e-02  2.47879805e+01]
 [ 3.17757544e-02 -7.46702935e-05  9.99495020e-01  4.44366654e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 140.42650248099997
Centerline is valid?  [True, True]
Translation: X:136.90, Y:24.81, Z:4.45
[[ 9.32005533e-01 -3.61232952e-01 -2.96047485e-02  1.36900880e+02]
 [ 3.61048456e-01  9.32475603e-01 -1.15439554e-02  2.48050887e+01]
 [ 3.17757627e-02  7.02815484e-05  9.99495020e-01  4.44552608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.48650248099997
Centerline is valid?  [True, True]
Translation: X:136.96, Y:24.82, Z:4.45
[[ 9.33414732e-01 -3.57576208e-01 -2.96005511e-02  1.36956231e+02]
 [ 3.57389530e-01  9.33883940e-01 -1.15547081e-02  2.48221910e+01]
 [ 3.17751680e-02  2.06407695e-04  9.99495021e-01  4.44735759e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.54650248099998
Centerline is valid?  [True, True]
Translation: X:137.01, Y:24.85, Z:4.45
[[ 9.34589281e-01 -3.54495091e-01 -2.95990931e-02  1.37010332e+02]
 [ 3.54306747e-01  9.35057822e-01 -1.15584418e-02  2.48460134e+01]
 [ 3.17742744e-02  3.15237453e-04  9.99495021e-01  4.44923332e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.60650248099998
Centerline is valid?  [True, True]
Translation: X:137.07, Y:24.86, Z:4.45
[[ 9.34521973e-01 -3.54672822e-01 -2.95951265e-02  1.37066703e+02]
 [ 3.54484246e-01  9.34990421e-01 -1.15685894e-02  2.48643179e+01]
 [ 3.17742240e-02  3.20094887e-04  9.99495021e-01  4.45110913e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.66650248099998
Centerline is valid?  [True, True]
Translation: X:137.12, Y:24.88, Z:4.45
[[ 9.33311266e-01 -3.57846952e-01 -2.95911978e-02  1.37123899e+02]
 [ 3.57659651e-01  9.33780225e-01 -1.15786297e-02  2.48818155e+01]
 [ 3.17750527e-02  2.22888093e-04  9.99495021e-01  4.45300003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.72650248099998
Centerline is valid?  [True, True]
Translation: X:137.18, Y:24.90, Z:4.45
[[ 9.31755752e-01 -3.61878166e-01 -2.95873617e-02  1.37180256e+02]
 [ 3.61692583e-01  9.32225393e-01 -1.15884239e-02  2.48990710e+01]
 [ 3.17756875e-02  9.60513709e-05  9.99495021e-01  4.45486331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.78650248099999
Centerline is valid?  [True, True]
Translation: X:137.24, Y:24.92, Z:4.46
[[ 9.30869426e-01 -3.64152362e-01 -2.95832462e-02  1.37237063e+02]
 [ 3.63967593e-01  9.31339388e-01 -1.15989208e-02  2.49173220e+01]
 [ 3.17758168e-02  2.97378260e-05  9.99495021e-01  4.45675099e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.84650248099996
Centerline is valid?  [True, True]
Translation: X:137.29, Y:24.94, Z:4.46
[[ 9.31237314e-01 -3.63210741e-01 -2.95807708e-02  1.37291632e+02]
 [ 3.63025297e-01  9.31707010e-01 -1.16052302e-02  2.49378577e+01]
 [ 3.17757558e-02  6.86553078e-05  9.99495021e-01  4.45860112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.90650248099996
Centerline is valid?  [True, True]
Translation: X:137.35, Y:24.96, Z:4.46
[[ 9.31358408e-01 -3.62900200e-01 -2.95797393e-02  1.37347260e+02]
 [ 3.62714515e-01  9.31828009e-01 -1.16078588e-02  2.49568284e+01]
 [ 3.17757238e-02  8.20761014e-05  9.99495021e-01  4.46046634e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.96650248099996
Centerline is valid?  [True, True]
Translation: X:137.40, Y:24.98, Z:4.46
[[ 9.29553104e-01 -3.67500076e-01 -2.95756785e-02  1.37403183e+02]
 [ 3.67316386e-01  9.30023489e-01 -1.16181962e-02  2.49759182e+01]
 [ 3.17757637e-02 -6.39009684e-05  9.99495021e-01  4.46233752e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.02650248099997
Centerline is valid?  [True, True]
Translation: X:137.46, Y:25.00, Z:4.46
[[ 9.30718379e-01 -3.64539189e-01 -2.95715788e-02  1.37458186e+02]
 [ 3.64353671e-01  9.31188046e-01 -1.16286217e-02  2.49971227e+01]
 [ 3.17757890e-02  4.84586437e-05  9.99495021e-01  4.46420600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.08650248099997
Centerline is valid?  [True, True]
Translation: X:137.51, Y:25.02, Z:4.47
[[ 9.32683202e-01 -3.59482691e-01 -2.95675517e-02  1.37513679e+02]
 [ 3.59294303e-01  9.33151725e-01 -1.16388523e-02  2.50183068e+01]
 [ 3.17749778e-02  2.31909148e-04  9.99495021e-01  4.46608881e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.14650248099997
Centerline is valid?  [True, True]
Translation: X:137.57, Y:25.04, Z:4.47
[[ 9.33246732e-01 -3.58017485e-01 -2.95637801e-02  1.37569019e+02]
 [ 3.57828058e-01  9.33714836e-01 -1.16484245e-02  2.50394348e+01]
 [ 3.17744797e-02  2.92104094e-04  9.99495021e-01  4.46796678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.20650248099997
Centerline is valid?  [True, True]
Translation: X:137.63, Y:25.06, Z:4.47
[[ 9.34197082e-01 -3.55530646e-01 -2.95596486e-02  1.37625401e+02]
 [ 3.55339641e-01  9.34664544e-01 -1.16588994e-02  2.50585040e+01]
 [ 3.17734515e-02  3.87994864e-04  9.99495021e-01  4.46985106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.26650248099997
Centerline is valid?  [True, True]
Translation: X:137.68, Y:25.08, Z:4.47
[[ 9.33435028e-01 -3.57526682e-01 -2.95587727e-02  1.37680730e+02]
 [ 3.57336607e-01  9.33902868e-01 -1.16611197e-02  2.50781586e+01]
 [ 3.17741840e-02  3.22466067e-04  9.99495021e-01  4.47171545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.32650248099998
Centerline is valid?  [True, True]
Translation: X:137.73, Y:25.10, Z:4.47
[[ 9.31853749e-01 -3.61628429e-01 -2.95545187e-02  1.37734482e+02]
 [ 3.61440071e-01  9.32322284e-01 -1.16718913e-02  2.50992828e+01]
 [ 3.17752241e-02  1.94308323e-04  9.99495021e-01  4.47354571e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.38650248099998
Centerline is valid?  [True, True]
Translation: X:137.79, Y:25.12, Z:4.48
[[ 9.29965312e-01 -3.66457605e-01 -2.95523663e-02  1.37788565e+02]
 [ 3.66271508e-01  9.30434749e-01 -1.16773383e-02  2.51205995e+01]
 [ 3.17757980e-02  3.53297967e-05  9.99495021e-01  4.47539087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.44650248099998
Centerline is valid?  [True, True]
Translation: X:137.84, Y:25.14, Z:4.48
[[ 9.28701464e-01 -3.69648929e-01 -2.95509706e-02  1.37844088e+02]
 [ 3.69464332e-01  9.29171494e-01 -1.16808693e-02  2.51431218e+01]
 [ 3.17757403e-02 -6.99892543e-05  9.99495021e-01  4.47729374e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.50650248099998
Centerline is valid?  [True, True]
Translation: X:137.90, Y:25.16, Z:4.48
[[ 9.28263656e-01 -3.70747216e-01 -2.95480397e-02  1.37899002e+02]
 [ 3.70562940e-01  9.28733811e-01 -1.16882788e-02  2.51640038e+01]
 [ 3.17756603e-02 -9.96040186e-05  9.99495021e-01  4.47915732e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.566502481
Centerline is valid?  [True, True]
Translation: X:137.95, Y:25.19, Z:4.48
[[ 9.27976163e-01 -3.71466534e-01 -2.95441262e-02  1.37954712e+02]
 [ 3.71282307e-01  9.28446337e-01 -1.16981625e-02  2.51854870e+01]
 [ 3.17756116e-02 -1.13595429e-04  9.99495021e-01  4.48105011e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 141.62650248099996
Centerline is valid?  [True, True]
Translation: X:138.01, Y:25.21, Z:4.48
[[ 9.29385814e-01 -3.67925758e-01 -2.95405600e-02  1.38009879e+02]
 [ 3.67739454e-01  9.29855170e-01 -1.17071610e-02  2.52081730e+01]
 [ 3.17758085e-02  1.72399437e-05  9.99495021e-01  4.48294141e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.68650248099996
Centerline is valid?  [True, True]
Translation: X:138.07, Y:25.23, Z:4.48
[[ 9.31046874e-01 -3.63702174e-01 -2.95372344e-02  1.38065022e+02]
 [ 3.63513475e-01  9.31515271e-01 -1.17155454e-02  2.52302149e+01]
 [ 3.17753542e-02  1.70539192e-04  9.99495021e-01  4.48482480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.74650248099996
Centerline is valid?  [True, True]
Translation: X:138.12, Y:25.25, Z:4.49
[[ 9.32324884e-01 -3.60413563e-01 -2.95359947e-02  1.38119024e+02]
 [ 3.60223113e-01  9.32792572e-01 -1.17186701e-02  2.52529574e+01]
 [ 3.17745241e-02  2.86059766e-04  9.99495021e-01  4.48668555e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.80650248099997
Centerline is valid?  [True, True]
Translation: X:138.17, Y:25.28, Z:4.49
[[ 9.31863185e-01 -3.61605953e-01 -2.95320018e-02  1.38174179e+02]
 [ 3.61415783e-01  9.32330987e-01 -1.17287239e-02  2.52755259e+01]
 [ 3.17747767e-02  2.56234438e-04  9.99495021e-01  4.48857455e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.86650248099997
Centerline is valid?  [True, True]
Translation: X:138.23, Y:25.30, Z:4.49
[[ 9.29598263e-01 -3.67389636e-01 -2.95283679e-02  1.38227262e+02]
 [ 3.67202085e-01  9.30067122e-01 -1.17378655e-02  2.52980721e+01]
 [ 3.17757343e-02  6.86211304e-05  9.99495021e-01  4.49040262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.92650248099997
Centerline is valid?  [True, True]
Translation: X:138.28, Y:25.32, Z:4.49
[[ 9.26043415e-01 -3.76260273e-01 -2.95262682e-02  1.38282146e+02]
 [ 3.76077046e-01  9.26513980e-01 -1.17431449e-02  2.53204686e+01]
 [ 3.17749791e-02 -2.29489656e-04  9.99495022e-01  4.49228422e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.98650248099997
Centerline is valid?  [True, True]
Translation: X:138.34, Y:25.34, Z:4.49
[[ 9.23900233e-01 -3.81492847e-01 -2.95223243e-02  1.38336939e+02]
 [ 3.81311968e-01  9.24371705e-01 -1.17530513e-02  2.53428103e+01]
 [ 3.17733063e-02 -3.98568735e-04  9.99495022e-01  4.49416002e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.04650248099998
Centerline is valid?  [True, True]
Translation: X:138.39, Y:25.37, Z:4.50
[[ 9.21356221e-01 -3.87596693e-01 -2.95214938e-02  1.38391470e+02]
 [ 3.87418870e-01  9.21828854e-01 -1.17551372e-02  2.53672760e+01]
 [ 3.17700171e-02 -6.06514934e-04  9.99495022e-01  4.49605726e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.10650248099998
Centerline is valid?  [True, True]
Translation: X:138.45, Y:25.39, Z:4.50
[[ 9.22876861e-01 -3.83962205e-01 -2.95181946e-02  1.38447295e+02]
 [ 3.83782256e-01  9.23348689e-01 -1.17634158e-02  2.53868996e+01]
 [ 3.17722934e-02 -4.72375081e-04  9.99495022e-01  4.49793244e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.16650248099998
Centerline is valid?  [True, True]
Translation: X:138.50, Y:25.41, Z:4.50
[[ 9.21299957e-01 -3.87730957e-01 -2.95143116e-02  1.38499357e+02]
 [ 3.87552626e-01  9.21772399e-01 -1.17731503e-02  2.54123700e+01]
 [ 3.17702926e-02 -5.91746089e-04  9.99495022e-01  4.49976453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.22650248099998
Centerline is valid?  [True, True]
Translation: X:138.55, Y:25.44, Z:4.50
[[ 9.22101380e-01 -3.85821241e-01 -2.95129556e-02  1.38553822e+02]
 [ 3.85641823e-01  9.22573410e-01 -1.17765484e-02  2.54367427e+01]
 [ 3.17715107e-02 -5.22258488e-04  9.99495022e-01  4.50165812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.28650248099999
Centerline is valid?  [True, True]
Translation: X:138.61, Y:25.47, Z:4.50
[[ 9.22189856e-01 -3.85609822e-01 -2.95116196e-02  1.38606143e+02]
 [ 3.85430189e-01  9.22661804e-01 -1.17798956e-02  2.54651764e+01]
 [ 3.17716876e-02 -5.11368920e-04  9.99495022e-01  4.50353629e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.34650248099996
Centerline is valid?  [True, True]
Translation: X:138.67, Y:25.47, Z:4.51
[[ 9.30190788e-01 -3.65888263e-01 -2.95106195e-02  1.38665828e+02]
 [ 3.65698543e-01  9.30658773e-01 -1.17824004e-02  2.54734207e+01]
 [ 3.17753589e-02  1.67889799e-04  9.99495022e-01  4.50539440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.40650248099996
Centerline is valid?  [True, True]
Translation: X:138.71, Y:25.52, Z:4.51
[[ 9.23915640e-01 -3.81456741e-01 -2.95066841e-02  1.38712761e+02]
 [ 3.81274592e-01  9.24386623e-01 -1.17922475e-02  2.55152046e+01]
 [ 3.17738164e-02 -3.55107050e-04  9.99495022e-01  4.50726756e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.46650248099996
Centerline is valid?  [True, True]
Translation: X:138.77, Y:25.53, Z:4.51
[[ 9.28016309e-01 -3.71369527e-01 -2.95026056e-02  1.38769070e+02]
 [ 3.71181934e-01  9.28485150e-01 -1.18024427e-02  2.55326750e+01]
 [ 3.17757987e-02  2.02516893e-06  9.99495022e-01  4.50913064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.52650248099997
Centerline is valid?  [True, True]
Translation: X:138.82, Y:25.56, Z:4.51
[[ 9.28610739e-01 -3.69880736e-01 -2.95014563e-02  1.38822486e+02]
 [ 3.69692300e-01  9.29079242e-01 -1.18053149e-02  2.55567232e+01]
 [ 3.17757492e-02  5.60809553e-05  9.99495022e-01  4.51098982e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.58650248099997
Centerline is valid?  [True, True]
Translation: X:138.88, Y:25.58, Z:4.51
[[ 9.28248803e-01 -3.70788219e-01 -2.95001100e-02  1.38876914e+02]
 [ 3.70600134e-01  9.28717447e-01 -1.18086782e-02  2.55777809e+01]
 [ 3.17757855e-02  2.86466964e-05  9.99495022e-01  4.51284328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.64650248099997
Centerline is valid?  [True, True]
Translation: X:138.93, Y:25.60, Z:4.51
[[ 9.27344308e-01 -3.73044717e-01 -2.94987191e-02  1.38930139e+02]
 [ 3.72857661e-01  9.27813363e-01 -1.18121517e-02  2.56019468e+01]
 [ 3.17757665e-02 -4.48917684e-05  9.99495022e-01  4.51469793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.70650248099997
Centerline is valid?  [True, True]
Translation: X:138.99, Y:25.62, Z:4.52
[[ 9.26390889e-01 -3.75406185e-01 -2.94977475e-02  1.38985600e+02]
 [ 3.75220248e-01  9.26860389e-01 -1.18145774e-02  2.56238879e+01]
 [ 3.17755592e-02 -1.23235265e-04  9.99495022e-01  4.51659282e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.76650248099997
Centerline is valid?  [True, True]
Translation: X:139.04, Y:25.65, Z:4.52
[[ 9.25508822e-01 -3.77575813e-01 -2.94945021e-02  1.39040050e+02]
 [ 3.77390719e-01  9.25978655e-01 -1.18226739e-02  2.56473148e+01]
 [ 3.17752351e-02 -1.88962307e-04  9.99495022e-01  4.51847248e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 142.82650248099998
Centerline is valid?  [True, True]
Translation: X:139.09, Y:25.67, Z:4.52
[[ 9.24985473e-01 -3.78856380e-01 -2.94909809e-02  1.39094890e+02]
 [ 3.78671657e-01  9.25455452e-01 -1.18314507e-02  2.56702998e+01]
 [ 3.17750097e-02 -2.23478600e-04  9.99495022e-01  4.52035810e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.88650248099998
Centerline is valid?  [True, True]
Translation: X:139.15, Y:25.69, Z:4.52
[[ 9.24737766e-01 -3.79460693e-01 -2.94897574e-02  1.39148924e+02]
 [ 3.79276179e-01  9.25207828e-01 -1.18344996e-02  2.56912598e+01]
 [ 3.17748818e-02 -2.40953734e-04  9.99495022e-01  4.52219896e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.94650248099998
Centerline is valid?  [True, True]
Translation: X:139.20, Y:25.71, Z:4.52
[[ 9.23793821e-01 -3.81753077e-01 -2.94883732e-02  1.39202871e+02]
 [ 3.81569619e-01  9.24264296e-01 -1.18379476e-02  2.57132020e+01]
 [ 3.17742234e-02 -3.16044485e-04  9.99495022e-01  4.52404865e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.00650248099998
Centerline is valid?  [True, True]
Translation: X:139.26, Y:25.73, Z:4.53
[[ 9.22420166e-01 -3.85060433e-01 -2.94872871e-02  1.39258696e+02]
 [ 3.84878576e-01  9.22891262e-01 -1.18406524e-02  2.57339798e+01]
 [ 3.17729263e-02 -4.26968505e-04  9.99495022e-01  4.52594034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.066502481
Centerline is valid?  [True, True]
Translation: X:139.31, Y:25.75, Z:4.53
[[ 9.21627505e-01 -3.86954073e-01 -2.94837010e-02  1.39313140e+02]
 [ 3.86772898e-01  9.22098863e-01 -1.18495752e-02  2.57547133e+01]
 [ 3.17721285e-02 -4.82602094e-04  9.99495022e-01  4.52778752e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.12650248099996
Centerline is valid?  [True, True]
Translation: X:139.37, Y:25.78, Z:4.53
[[ 9.21765466e-01 -3.86625480e-01 -2.94815992e-02  1.39368090e+02]
 [ 3.86443970e-01  9.22236695e-01 -1.18548020e-02  2.57769082e+01]
 [ 3.17723812e-02 -4.65639197e-04  9.99495022e-01  4.52966886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.18650248099996
Centerline is valid?  [True, True]
Translation: X:139.42, Y:25.80, Z:4.53
[[ 9.22801815e-01 -3.84145642e-01 -2.94777187e-02  1.39421110e+02]
 [ 3.83962558e-01  9.23272435e-01 -1.18644434e-02  2.57997031e+01]
 [ 3.17736393e-02 -3.69810344e-04  9.99495022e-01  4.53149810e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.24650248099996
Centerline is valid?  [True, True]
Translation: X:139.48, Y:25.82, Z:4.53
[[ 9.24101375e-01 -3.81008912e-01 -2.94763992e-02  1.39476013e+02]
 [ 3.80824126e-01  9.24571329e-01 -1.18677206e-02  2.58230420e+01]
 [ 3.17747409e-02 -2.58347020e-04  9.99495022e-01  4.53339266e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.30650248099997
Centerline is valid?  [True, True]
Translation: X:139.53, Y:25.85, Z:4.54
[[ 9.25845383e-01 -3.76751482e-01 -2.94728264e-02  1.39529435e+02]
 [ 3.76564252e-01  9.26314369e-01 -1.18765870e-02  2.58475359e+01]
 [ 3.17756243e-02 -1.02529607e-04  9.99495022e-01  4.53525436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.36650248099997
Centerline is valid?  [True, True]
Translation: X:139.58, Y:25.87, Z:4.54
[[ 9.28440480e-01 -3.70310499e-01 -2.94687759e-02  1.39582070e+02]
 [ 3.70119697e-01  9.28908024e-01 -1.18866286e-02  2.58722389e+01]
 [ 3.17755258e-02  1.29052780e-04  9.99495022e-01  4.53709481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.42650248099997
Centerline is valid?  [True, True]
Translation: X:139.64, Y:25.89, Z:4.54
[[ 9.30132504e-01 -3.66039888e-01 -2.94673622e-02  1.39636934e+02]
 [ 3.65846829e-01  9.30599120e-01 -1.18901324e-02  2.58947460e+01]
 [ 3.17745640e-02  2.78857607e-04  9.99495022e-01  4.53897827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.48650248099997
Centerline is valid?  [True, True]
Translation: X:139.69, Y:25.92, Z:4.54
[[ 9.33975904e-01 -3.56119243e-01 -2.94634561e-02  1.39690586e+02]
 [ 3.55920923e-01  9.34440309e-01 -1.18998037e-02  2.59172389e+01]
 [ 3.17695901e-02  6.27469423e-04  9.99495022e-01  4.54082264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.54650248099998
Centerline is valid?  [True, True]
Translation: X:139.75, Y:25.94, Z:4.54
[[ 9.36440538e-01 -3.49587064e-01 -2.94618920e-02  1.39745846e+02]
 [ 3.49385383e-01  9.36903494e-01 -1.19036750e-02  2.59390420e+01]
 [ 3.17643203e-02  8.53529365e-04  9.99495022e-01  4.54270920e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.60650248099998
Centerline is valid?  [True, True]
Translation: X:139.80, Y:25.96, Z:4.54
[[ 9.38078426e-01 -3.45168052e-01 -2.94598316e-02  1.39800793e+02]
 [ 3.44964031e-01  9.38540355e-01 -1.19087718e-02  2.59608023e+01]
 [ 3.17597684e-02  1.00877960e-03  9.99495022e-01  4.54458541e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.66650248099998
Centerline is valid?  [True, True]
Translation: X:139.86, Y:25.98, Z:4.55
[[ 9.39415419e-01 -3.41512576e-01 -2.94589665e-02  1.39856641e+02]
 [ 3.41306691e-01  9.39876520e-01 -1.19109115e-02  2.59808822e+01]
 [ 3.17555170e-02  1.13475150e-03  9.99495022e-01  4.54646963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.72650248099998
Centerline is valid?  [True, True]
Translation: X:139.91, Y:26.00, Z:4.55
[[ 9.39506873e-01 -3.41261001e-01 -2.94578457e-02  1.39912650e+02]
 [ 3.41054906e-01  9.39967880e-01 -1.19136828e-02  2.59994682e+01]
 [ 3.17551041e-02  1.14624407e-03  9.99495022e-01  4.54834049e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.78650248099999
Centerline is valid?  [True, True]
Translation: X:139.97, Y:26.02, Z:4.55
[[ 9.39150962e-01 -3.42239338e-01 -2.94568495e-02  1.39967868e+02]
 [ 3.42033646e-01  9.39612149e-01 -1.19161454e-02  2.60205330e+01]
 [ 3.17561874e-02  1.11582575e-03  9.99495022e-01  4.55021770e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.84650248099996
Centerline is valid?  [True, True]
Translation: X:140.02, Y:26.04, Z:4.55
[[ 9.38549633e-01 -3.43885306e-01 -2.94530736e-02  1.40022825e+02]
 [ 3.43680131e-01  9.39011049e-01 -1.19254710e-02  2.60401389e+01]
 [ 3.17577558e-02  1.07021029e-03  9.99495022e-01  4.55206621e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.90650248099996
Centerline is valid?  [True, True]
Translation: X:140.08, Y:26.06, Z:4.55
[[ 9.37311997e-01 -3.47244585e-01 -2.94519809e-02  1.40079271e+02]
 [ 3.47040979e-01  9.37774108e-01 -1.19281691e-02  2.60571248e+01]
 [ 3.17612972e-02  9.59371716e-04  9.99495022e-01  4.55393080e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.96650248099996
Centerline is valid?  [True, True]
Translation: X:140.13, Y:26.08, Z:4.56
[[ 9.35195980e-01 -3.52904065e-01 -2.94482706e-02  1.40134719e+02]
 [ 3.52702968e-01  9.35659188e-01 -1.19373220e-02  2.60774473e+01]
 [ 3.17662744e-02  7.77243076e-04  9.99495022e-01  4.55580228e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 144.02650248099997
Centerline is valid?  [True, True]
Translation: X:140.19, Y:26.10, Z:4.56
[[ 9.32857273e-01 -3.59040783e-01 -2.94452922e-02  1.40189806e+02]
 [ 3.58842502e-01  9.33321694e-01 -1.19446642e-02  2.60965142e+01]
 [ 3.17705515e-02  5.76444579e-04  9.99495022e-01  4.55764908e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.08650248099997
Centerline is valid?  [True, True]
Translation: X:140.25, Y:26.12, Z:4.56
[[ 9.29151544e-01 -3.68524688e-01 -2.94442383e-02  1.40245859e+02]
 [ 3.68331066e-01  9.29617926e-01 -1.19472615e-02  2.61151600e+01]
 [ 3.17747526e-02  2.55588840e-04  9.99495022e-01  4.55952183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.14650248099997
Centerline is valid?  [True, True]
Translation: X:140.30, Y:26.14, Z:4.56
[[ 9.27574290e-01 -3.72476894e-01 -2.94431793e-02  1.40300990e+02]
 [ 3.72285176e-01  9.28041458e-01 -1.19498708e-02  2.61368894e+01]
 [ 3.17755418e-02  1.23133759e-04  9.99495022e-01  4.56140426e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.20650248099997
Centerline is valid?  [True, True]
Translation: X:140.36, Y:26.16, Z:4.56
[[ 9.22934873e-01 -3.83828567e-01 -2.94423561e-02  1.40355708e+02]
 [ 3.83642530e-01  9.23404333e-01 -1.19518987e-02  2.61564980e+01]
 [ 3.17746793e-02 -2.64515896e-04  9.99495022e-01  4.56324948e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.26650248099997
Centerline is valid?  [True, True]
Translation: X:140.41, Y:26.18, Z:4.57
[[ 9.18423719e-01 -3.94501070e-01 -2.94410796e-02  1.40411558e+02]
 [ 3.94320387e-01  9.18895266e-01 -1.19550422e-02  2.61767776e+01]
 [ 3.17695456e-02 -6.29423581e-04  9.99495022e-01  4.56513544e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.32650248099998
Centerline is valid?  [True, True]
Translation: X:140.47, Y:26.20, Z:4.57
[[ 9.13225641e-01 -4.06389415e-01 -2.94376100e-02  1.40465600e+02]
 [ 4.06214593e-01  9.13699391e-01 -1.19635795e-02  2.62010545e+01]
 [ 3.17589984e-02 -1.03253922e-03  9.99495022e-01  4.56701300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.38650248099998
Centerline is valid?  [True, True]
Translation: X:140.52, Y:26.23, Z:4.57
[[ 9.11173817e-01 -4.10969488e-01 -2.94339129e-02  1.40518347e+02]
 [ 4.10796754e-01  9.11648332e-01 -1.19726685e-02  2.62270954e+01]
 [ 3.17537791e-02 -1.18217381e-03  9.99495022e-01  4.56887328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.44650248099998
Centerline is valid?  [True, True]
Translation: X:140.57, Y:26.25, Z:4.57
[[ 9.12805796e-01 -4.07331949e-01 -2.94323424e-02  1.40571736e+02]
 [ 4.07157199e-01  9.13279573e-01 -1.19765280e-02  2.62496985e+01]
 [ 3.17583796e-02 -1.05134593e-03  9.99495022e-01  4.57071418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.50650248099998
Centerline is valid?  [True, True]
Translation: X:140.62, Y:26.27, Z:4.57
[[ 9.17277525e-01 -3.97159611e-01 -2.94310256e-02  1.40624942e+02]
 [ 3.96979502e-01  9.17749291e-01 -1.19797631e-02  2.62749798e+01]
 [ 3.17681809e-02 -6.94746477e-04  9.99495023e-01  4.57258215e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.566502481
Centerline is valid?  [True, True]
Translation: X:140.68, Y:26.30, Z:4.57
[[ 9.17311711e-01 -3.97080920e-01 -2.94273358e-02  1.40677705e+02]
 [ 3.96900479e-01  9.17783350e-01 -1.19888198e-02  2.63030144e+01]
 [ 3.17684505e-02 -6.82238884e-04  9.99495023e-01  4.57446699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.62650248099996
Centerline is valid?  [True, True]
Translation: X:140.73, Y:26.32, Z:4.58
[[ 9.19982481e-01 -3.90853524e-01 -2.94237638e-02  1.40733806e+02]
 [ 3.90669611e-01  9.20452776e-01 -1.19975803e-02  2.63223470e+01]
 [ 3.17724816e-02 -4.57406660e-04  9.99495023e-01  4.57634593e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.68650248099996
Centerline is valid?  [True, True]
Translation: X:140.79, Y:26.34, Z:4.58
[[ 9.21263805e-01 -3.87824027e-01 -2.94198283e-02  1.40788205e+02]
 [ 3.87638259e-01  9.21733371e-01 -1.20072229e-02  2.63417866e+01]
 [ 3.17739270e-02 -3.42431209e-04  9.99495023e-01  4.57817550e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.74650248099996
Centerline is valid?  [True, True]
Translation: X:140.84, Y:26.36, Z:4.58
[[ 9.22216022e-01 -3.85554358e-01 -2.94184567e-02  1.40842495e+02]
 [ 3.85367327e-01  9.22685087e-01 -1.20105824e-02  2.63646015e+01]
 [ 3.17747037e-02 -2.60560534e-04  9.99495023e-01  4.58004578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.80650248099997
Centerline is valid?  [True, True]
Translation: X:140.90, Y:26.39, Z:4.58
[[ 9.23534352e-01 -3.82385824e-01 -2.94173913e-02  1.40896920e+02]
 [ 3.82197100e-01  9.24002738e-01 -1.20131914e-02  2.63879300e+01]
 [ 3.17754242e-02 -1.48646748e-04  9.99495023e-01  4.58192662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.86650248099997
Centerline is valid?  [True, True]
Translation: X:140.95, Y:26.41, Z:4.58
[[ 9.24331087e-01 -3.80456123e-01 -2.94139392e-02  1.40950490e+02]
 [ 3.80266153e-01  9.24798969e-01 -1.20216378e-02  2.64124904e+01]
 [ 3.17756863e-02 -7.31519679e-05  9.99495023e-01  4.58379396e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.92650248099997
Centerline is valid?  [True, True]
Translation: X:141.00, Y:26.44, Z:4.59
[[ 9.24469884e-01 -3.80118820e-01 -2.94128506e-02  1.41003619e+02]
 [ 3.79928594e-01  9.24937663e-01 -1.20243005e-02  2.64373376e+01]
 [ 3.17757162e-02 -5.86792634e-05  9.99495023e-01  4.58565493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.98650248099997
Centerline is valid?  [True, True]
Translation: X:141.06, Y:26.46, Z:4.59
[[ 9.25451800e-01 -3.77722022e-01 -2.94115576e-02  1.41058287e+02]
 [ 3.77530484e-01  9.25919043e-01 -1.20274623e-02  2.64601564e+01]
 [ 3.17757587e-02  2.70770750e-05  9.99495023e-01  4.58753652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.04650248099998
Centerline is valid?  [True, True]
Translation: X:141.11, Y:26.49, Z:4.59
[[ 9.25464381e-01 -3.77691473e-01 -2.94080148e-02  1.41110272e+02]
 [ 3.77499645e-01  9.25931504e-01 -1.20361186e-02  2.64863409e+01]
 [ 3.17757467e-02  3.74839306e-05  9.99495023e-01  4.58937675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.10650248099998
Centerline is valid?  [True, True]
Translation: X:141.17, Y:26.51, Z:4.59
[[ 9.25300230e-01 -3.78093549e-01 -2.94066727e-02  1.41165181e+02]
 [ 3.77901820e-01  9.25767394e-01 -1.20393967e-02  2.65067564e+01]
 [ 3.17757570e-02  2.72214152e-05  9.99495023e-01  4.59123644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.16650248099998
Centerline is valid?  [True, True]
Translation: X:141.22, Y:26.53, Z:4.59
[[ 9.24980069e-01 -3.78876418e-01 -2.94029342e-02  1.41220012e+02]
 [ 3.78684794e-01  9.25447276e-01 -1.20485201e-02  2.65309392e+01]
 [ 3.17757655e-02  1.01968196e-05  9.99495023e-01  4.59313613e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 145.22650248099998
Centerline is valid?  [True, True]
Translation: X:141.27, Y:26.55, Z:4.60
[[ 9.26019890e-01 -3.76328070e-01 -2.93997850e-02  1.41274711e+02]
 [ 3.76134917e-01  9.26486466e-01 -1.20561996e-02  2.65531731e+01]
 [ 3.17755893e-02  1.05994947e-04  9.99495023e-01  4.59500920e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.28650248099999
Centerline is valid?  [True, True]
Translation: X:141.33, Y:26.58, Z:4.60
[[ 9.25186702e-01 -3.78371934e-01 -2.93980784e-02  1.41329337e+02]
 [ 3.78179679e-01  9.25653649e-01 -1.20603597e-02  2.65758040e+01]
 [ 3.17757401e-02  4.03285913e-05  9.99495023e-01  4.59688679e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.34650248099996
Centerline is valid?  [True, True]
Translation: X:141.38, Y:26.60, Z:4.60
[[ 9.24430418e-01 -3.80215996e-01 -2.93972619e-02  1.41383894e+02]
 [ 3.80024609e-01  9.24897722e-01 -1.20623496e-02  2.65992526e+01]
 [ 3.17757588e-02 -2.08800853e-05  9.99495023e-01  4.59877336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.40650248099996
Centerline is valid?  [True, True]
Translation: X:141.44, Y:26.62, Z:4.60
[[ 9.23737272e-01 -3.81897195e-01 -2.93936349e-02  1.41439203e+02]
 [ 3.81706377e-01  9.24204808e-01 -1.20711814e-02  2.66220550e+01]
 [ 3.17756890e-02 -6.91377395e-05  9.99495023e-01  4.60067063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.46650248099996
Centerline is valid?  [True, True]
Translation: X:141.49, Y:26.65, Z:4.60
[[ 9.21659185e-01 -3.86885721e-01 -2.93902236e-02  1.41492340e+02]
 [ 3.86697170e-01  9.22127640e-01 -1.20794812e-02  2.66456869e+01]
 [ 3.17749164e-02 -2.31951496e-04  9.99495023e-01  4.60251435e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.52650248099997
Centerline is valid?  [True, True]
Translation: X:141.55, Y:26.67, Z:4.60
[[ 9.20161083e-01 -3.90435475e-01 -2.93891210e-02  1.41546930e+02]
 [ 3.90248646e-01  9.20630228e-01 -1.20821634e-02  2.66705900e+01]
 [ 3.17738183e-02 -3.51528117e-04  9.99495023e-01  4.60441912e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.58650248099997
Centerline is valid?  [True, True]
Translation: X:141.60, Y:26.69, Z:4.61
[[ 9.19371273e-01 -3.92291909e-01 -2.93857301e-02  1.41599894e+02]
 [ 3.92105763e-01  9.19840689e-01 -1.20904048e-02  2.66940092e+01]
 [ 3.17731582e-02 -4.06743310e-04  9.99495023e-01  4.60625525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.64650248099997
Centerline is valid?  [True, True]
Translation: X:141.65, Y:26.72, Z:4.61
[[ 9.19521060e-01 -3.91940786e-01 -2.93843435e-02  1.41653481e+02]
 [ 3.91754353e-01  9.19990363e-01 -1.20937740e-02  2.67176594e+01]
 [ 3.17733561e-02 -3.90964621e-04  9.99495023e-01  4.60811507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.70650248099997
Centerline is valid?  [True, True]
Translation: X:141.71, Y:26.74, Z:4.61
[[ 9.20643815e-01 -3.89296489e-01 -2.93804348e-02  1.41706087e+02]
 [ 3.89108405e-01  9.21112458e-01 -1.21032623e-02  2.67416852e+01]
 [ 3.17744420e-02 -2.89380533e-04  9.99495023e-01  4.60994741e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.76650248099997
Centerline is valid?  [True, True]
Translation: X:141.76, Y:26.77, Z:4.61
[[ 9.21426696e-01 -3.87439949e-01 -2.93790704e-02  1.41758811e+02]
 [ 3.87250816e-01  9.21894916e-01 -1.21065733e-02  2.67651363e+01]
 [ 3.17749858e-02 -2.21749115e-04  9.99495023e-01  4.61177950e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.82650248099998
Centerline is valid?  [True, True]
Translation: X:141.81, Y:26.79, Z:4.61
[[ 9.22195458e-01 -3.85606872e-01 -2.93747707e-02  1.41810897e+02]
 [ 3.85416476e-01  9.22663166e-01 -1.21169967e-02  2.67899557e+01]
 [ 3.17754162e-02 -1.47281313e-04  9.99495023e-01  4.61360578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.88650248099998
Centerline is valid?  [True, True]
Translation: X:141.87, Y:26.81, Z:4.62
[[ 9.22121013e-01 -3.85785013e-01 -2.93728017e-02  1.41865079e+02]
 [ 3.85594556e-01  9.22588696e-01 -1.21217680e-02  2.68127006e+01]
 [ 3.17754112e-02 -1.48255395e-04  9.99495023e-01  4.61547143e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.94650248099998
Centerline is valid?  [True, True]
Translation: X:141.92, Y:26.83, Z:4.62
[[ 9.21418031e-01 -3.87461327e-01 -2.93688931e-02  1.41919931e+02]
 [ 3.87271419e-01  9.21885937e-01 -1.21312305e-02  2.68346789e+01]
 [ 3.17751522e-02 -1.95798405e-04  9.99495023e-01  4.61734507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.00650248099998
Centerline is valid?  [True, True]
Translation: X:141.97, Y:26.86, Z:4.62
[[ 9.20281468e-01 -3.90153221e-01 -2.93680704e-02  1.41974464e+02]
 [ 3.89964617e-01  9.20749902e-01 -1.21332218e-02  2.68567195e+01]
 [ 3.17744635e-02 -2.86529158e-04  9.99495023e-01  4.61921394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.06650248099996
Centerline is valid?  [True, True]
Translation: X:142.03, Y:26.88, Z:4.62
[[ 9.19886253e-01 -3.91084209e-01 -2.93670224e-02  1.42028362e+02]
 [ 3.90895999e-01  9.20354845e-01 -1.21357578e-02  2.68795383e+01]
 [ 3.17741846e-02 -3.15934766e-04  9.99495023e-01  4.62107330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.12650248099996
Centerline is valid?  [True, True]
Translation: X:142.08, Y:26.90, Z:4.62
[[ 9.20419880e-01 -3.89826952e-01 -2.93630955e-02  1.42080439e+02]
 [ 3.89637799e-01  9.20888092e-01 -1.21452517e-02  2.69049009e+01]
 [ 3.17746715e-02 -2.62240741e-04  9.99495023e-01  4.62290650e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.18650248099996
Centerline is valid?  [True, True]
Translation: X:142.13, Y:26.93, Z:4.62
[[ 9.21331588e-01 -3.87667375e-01 -2.93617233e-02  1.42133208e+02]
 [ 3.87477018e-01  9.21799313e-01 -1.21485683e-02  2.69289394e+01]
 [ 3.17752199e-02 -1.84133280e-04  9.99495023e-01  4.62474716e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.24650248099996
Centerline is valid?  [True, True]
Translation: X:142.19, Y:26.95, Z:4.63
[[ 9.22442186e-01 -3.85017623e-01 -2.93571613e-02  1.42186398e+02]
 [ 3.84825573e-01  9.22909217e-01 -1.21595823e-02  2.69536318e+01]
 [ 3.17756482e-02 -8.08747640e-05  9.99495023e-01  4.62660422e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.30650248099997
Centerline is valid?  [True, True]
Translation: X:142.24, Y:26.98, Z:4.63
[[ 9.22250537e-01 -3.85476528e-01 -2.93563266e-02  1.42240428e+02]
 [ 3.85284646e-01  9.22717637e-01 -1.21615971e-02  2.69778479e+01]
 [ 3.17756106e-02 -9.45024032e-05  9.99495023e-01  4.62848478e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.36650248099997
Centerline is valid?  [True, True]
Translation: X:142.29, Y:27.00, Z:4.63
[[ 9.23909476e-01 -3.81483579e-01 -2.93523134e-02  1.42294672e+02]
 [ 3.81289371e-01  9.24375614e-01 -1.21712753e-02  2.70014952e+01]
 [ 3.17757044e-02  5.34315100e-05  9.99495023e-01  4.63036082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 146.42650248099997
Centerline is valid?  [True, True]
Translation: X:142.35, Y:27.03, Z:4.63
[[ 9.23858446e-01 -3.81607430e-01 -2.93486039e-02  1.42348958e+02]
 [ 3.81413000e-01  9.24324492e-01 -1.21802137e-02  2.70254767e+01]
 [ 3.17756934e-02  5.88542346e-05  9.99495023e-01  4.63224256e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.48650248099997
Centerline is valid?  [True, True]
Translation: X:142.40, Y:27.05, Z:4.63
[[ 9.23371640e-01 -3.82784155e-01 -2.93445798e-02  1.42402777e+02]
 [ 3.82590011e-01  9.23837805e-01 -1.21899009e-02  2.70482516e+01]
 [ 3.17757330e-02  2.88656433e-05  9.99495023e-01  4.63409551e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.54650248099998
Centerline is valid?  [True, True]
Translation: X:142.46, Y:27.07, Z:4.64
[[ 9.22953142e-01 -3.83792232e-01 -2.93431419e-02  1.42457420e+02]
 [ 3.83598488e-01  9.23419473e-01 -1.21933611e-02  2.70712594e+01]
 [ 3.17757459e-02 -2.08391755e-06  9.99495023e-01  4.63597866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.60650248099998
Centerline is valid?  [True, True]
Translation: X:142.51, Y:27.10, Z:4.64
[[ 9.21093077e-01 -3.88235416e-01 -2.93394917e-02  1.42511337e+02]
 [ 3.88043641e-01  9.21560221e-01 -1.22021378e-02  2.70956153e+01]
 [ 3.17754105e-02 -1.45698548e-04  9.99495024e-01  4.63785425e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.66650248099998
Centerline is valid?  [True, True]
Translation: X:142.57, Y:27.12, Z:4.64
[[ 9.19735858e-01 -3.91439934e-01 -2.93381858e-02  1.42565449e+02]
 [ 3.91249687e-01  9.20203626e-01 -1.22052769e-02  2.71200278e+01]
 [ 3.17747377e-02 -2.52925201e-04  9.99495024e-01  4.63973913e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.72650248099998
Centerline is valid?  [True, True]
Translation: X:142.62, Y:27.15, Z:4.64
[[ 9.19066597e-01 -3.93008828e-01 -2.93368554e-02  1.42618719e+02]
 [ 3.92819277e-01  9.19534648e-01 -1.22084738e-02  2.71456223e+01]
 [ 3.17742930e-02 -3.03681792e-04  9.99495024e-01  4.64161372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.78650248099999
Centerline is valid?  [True, True]
Translation: X:142.67, Y:27.17, Z:4.64
[[ 9.19422131e-01 -3.92176650e-01 -2.93329235e-02  1.42670219e+02]
 [ 3.91986374e-01  9.19889887e-01 -1.22179136e-02  2.71732756e+01]
 [ 3.17746401e-02 -2.64686170e-04  9.99495024e-01  4.64345845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.84650248099996
Centerline is valid?  [True, True]
Translation: X:142.72, Y:27.20, Z:4.65
[[ 9.19536564e-01 -3.91908414e-01 -2.93309007e-02  1.42723426e+02]
 [ 3.91717847e-01  9.20004202e-01 -1.22227675e-02  2.71984498e+01]
 [ 3.17747574e-02 -2.50155620e-04  9.99495024e-01  4.64532532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.90650248099996
Centerline is valid?  [True, True]
Translation: X:142.78, Y:27.22, Z:4.65
[[ 9.20667604e-01 -3.89244246e-01 -2.93271298e-02  1.42775748e+02]
 [ 3.89052038e-01  9.21134569e-01 -1.22318087e-02  2.72225751e+01]
 [ 3.17753943e-02 -1.48349659e-04  9.99495024e-01  4.64715137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.96650248099996
Centerline is valid?  [True, True]
Translation: X:142.83, Y:27.25, Z:4.65
[[ 9.21314095e-01 -3.87711665e-01 -2.93258205e-02  1.42829486e+02]
 [ 3.87518580e-01  9.21780699e-01 -1.22349471e-02  2.72467429e+01]
 [ 3.17756070e-02 -9.20711181e-05  9.99495024e-01  4.64902238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.02650248099997
Centerline is valid?  [True, True]
Translation: X:142.88, Y:27.27, Z:4.65
[[ 9.21957246e-01 -3.86180093e-01 -2.93218615e-02  1.42882333e+02]
 [ 3.85985931e-01  9.22423403e-01 -1.22444277e-02  2.72714424e+01]
 [ 3.17757255e-02 -2.89872097e-05  9.99495024e-01  4.65087071e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.08650248099997
Centerline is valid?  [True, True]
Translation: X:142.94, Y:27.29, Z:4.65
[[ 9.22482666e-01 -3.84923398e-01 -2.93207807e-02  1.42937169e+02]
 [ 3.84728519e-01  9.22948524e-01 -1.22470151e-02  2.72949306e+01]
 [ 3.17757340e-02  1.71186461e-05  9.99495024e-01  4.65276590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.14650248099997
Centerline is valid?  [True, True]
Translation: X:142.99, Y:27.32, Z:4.65
[[ 9.22533458e-01 -3.84801909e-01 -2.93173921e-02  1.42991191e+02]
 [ 3.84606711e-01  9.22999182e-01 -1.22551217e-02  2.73202964e+01]
 [ 3.17757231e-02  3.00940332e-05  9.99495024e-01  4.65465757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.20650248099997
Centerline is valid?  [True, True]
Translation: X:143.05, Y:27.34, Z:4.66
[[ 9.22385982e-01 -3.85155402e-01 -2.93158174e-02  1.43046098e+02]
 [ 3.84960263e-01  9.22851730e-01 -1.22588874e-02  2.73422901e+01]
 [ 3.17757295e-02  2.20011796e-05  9.99495024e-01  4.65653599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.26650248099997
Centerline is valid?  [True, True]
Translation: X:143.10, Y:27.37, Z:4.66
[[ 9.22159307e-01 -3.85698078e-01 -2.93122065e-02  1.43100012e+02]
 [ 3.85502938e-01  9.22625055e-01 -1.22675153e-02  2.73660503e+01]
 [ 3.17757332e-02  1.26617222e-05  9.99495024e-01  4.65840457e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.32650248099998
Centerline is valid?  [True, True]
Translation: X:143.15, Y:27.39, Z:4.66
[[ 9.23107318e-01 -3.83423707e-01 -2.93110958e-02  1.43153656e+02]
 [ 3.83227336e-01  9.23572548e-01 -1.22701687e-02  2.73916713e+01]
 [ 3.17755970e-02  9.38693672e-05  9.99495024e-01  4.66029100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.38650248099998
Centerline is valid?  [True, True]
Translation: X:143.21, Y:27.41, Z:4.66
[[ 9.23571767e-01 -3.82303674e-01 -2.93102702e-02  1.43207626e+02]
 [ 3.82106676e-01  9.24036732e-01 -1.22721404e-02  2.74116141e+01]
 [ 3.17754507e-02  1.34552431e-04  9.99495024e-01  4.66211759e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.44650248099998
Centerline is valid?  [True, True]
Translation: X:143.26, Y:27.43, Z:4.66
[[ 9.25011854e-01 -3.78806095e-01 -2.93089239e-02  1.43263358e+02]
 [ 3.78607237e-01  9.25476027e-01 -1.22753549e-02  2.74321456e+01]
 [ 3.17746857e-02  2.58278151e-04  9.99495024e-01  4.66400247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.50650248099998
Centerline is valid?  [True, True]
Translation: X:143.32, Y:27.45, Z:4.67
[[ 9.24123853e-01 -3.80967578e-01 -2.93054275e-02  1.43317721e+02]
 [ 3.80769542e-01  9.24588377e-01 -1.22836964e-02  2.74546087e+01]
 [ 3.17751477e-02  1.93042661e-04  9.99495024e-01  4.66586843e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.56650248099996
Centerline is valid?  [True, True]
Translation: X:143.37, Y:27.48, Z:4.67
[[ 9.23320402e-01 -3.82911034e-01 -2.93014527e-02  1.43372622e+02]
 [ 3.82713674e-01  9.23785214e-01 -1.22931704e-02  2.74767870e+01]
 [ 3.17754394e-02  1.36468398e-04  9.99495024e-01  4.66774611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.927632 with order 1
Centerline goodness : 0.972743 with order 1
Centerline goodness : 0.948941 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.919359 with order 1
Centerline goodness : 0.932420 with order 1
Centerline goodness : 0.916423 with order 1
Centerline goodness : 0.924200 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.986755 with order 1
Centerline goodness : 0.938527 with order 1
Centerline goodness : 0.928362 with order 1
Centerline goodness : 0.918407 with order 1
Centerline goodness : 0.943098 with order 1
Centerline goodness : 0.940011 with order 1
Centerline goodness : 0.939018 with order 1
Centerline goodness : 0.933482 with order 1
Centerline goodness : 0.931217 with order 1
SLAMing on frame at distance 147.62650248099996
Centerline is valid?  [True, True]
Translation: X:143.43, Y:27.50, Z:4.67
[[ 9.22905989e-01 -3.83909092e-01 -2.92975201e-02  1.43426136e+02]
 [ 3.83711937e-01  9.23370888e-01 -1.23025357e-02  2.74999566e+01]
 [ 3.17755324e-02  1.12275711e-04  9.99495024e-01  4.66959536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.68650248099996
Centerline is valid?  [True, True]
Translation: X:143.48, Y:27.52, Z:4.67
[[ 9.23499772e-01 -3.82478612e-01 -2.92964684e-02  1.43480401e+02]
 [ 3.82280658e-01  9.23964331e-01 -1.23050396e-02  2.75223054e+01]
 [ 3.17753063e-02  1.64228082e-04  9.99495024e-01  4.67145988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.74650248099996
Centerline is valid?  [True, True]
Translation: X:143.53, Y:27.55, Z:4.67
[[ 9.23797192e-01 -3.81759987e-01 -2.92926539e-02  1.43534654e+02]
 [ 3.81561384e-01  9.24261474e-01 -1.23141134e-02  2.75452520e+01]
 [ 3.17751073e-02  1.98797800e-04  9.99495024e-01  4.67332820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.80650248099997
Centerline is valid?  [True, True]
Translation: X:143.59, Y:27.57, Z:4.68
[[ 9.24245695e-01 -3.80672952e-01 -2.92916078e-02  1.43588061e+02]
 [ 3.80473724e-01  9.24709709e-01 -1.23166013e-02  2.75710098e+01]
 [ 3.17748311e-02  2.38878625e-04  9.99495024e-01  4.67520955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.86650248099997
Centerline is valid?  [True, True]
Translation: X:143.64, Y:27.59, Z:4.68
[[ 9.24324422e-01 -3.80482047e-01 -2.92878017e-02  1.43641831e+02]
 [ 3.80282436e-01  9.24788271e-01 -1.23256452e-02  2.75940702e+01]
 [ 3.17747022e-02  2.55258334e-04  9.99495024e-01  4.67706517e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.92650248099997
Centerline is valid?  [True, True]
Translation: X:143.69, Y:27.62, Z:4.68
[[ 9.24358242e-01 -3.80400184e-01 -2.92837886e-02  1.43693908e+02]
 [ 3.80200231e-01  9.24821944e-01 -1.23351723e-02  2.76166025e+01]
 [ 3.17745921e-02  2.68414984e-04  9.99495024e-01  4.67886442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.98650248099997
Centerline is valid?  [True, False]
Translation: X:143.76, Y:27.64, Z:4.68
[[ 9.23917755e-01 -3.81489710e-01 -2.90100681e-02  1.43755383e+02]
 [ 3.81279214e-01  9.24372848e-01 -1.26885069e-02  2.76426310e+01]
 [ 3.16566541e-02  6.62200845e-04  9.99498583e-01  4.67971926e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.04650248099998
Centerline is valid?  [False, False]
Translation: X:143.82, Y:27.67, Z:4.68
[[ 9.22861235e-01 -3.84166744e-01 -2.72590140e-02  1.43816736e+02]
 [ 3.83946681e-01  9.23262297e-01 -1.31025298e-02  2.76668174e+01]
 [ 3.02007761e-02  1.62580887e-03  9.99542530e-01  4.68063975e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.10650248099998
Centerline is valid?  [False, False]
Translation: X:143.88, Y:27.69, Z:4.68
[[ 9.20951779e-01 -3.88772392e-01 -2.65301234e-02  1.43875991e+02]
 [ 3.88594863e-01  9.21333684e-01 -1.17590795e-02  2.76890827e+01]
 [ 2.90147018e-02  5.20075546e-04  9.99578850e-01  4.68116771e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.16650248099998
Centerline is valid?  [False, False]
Translation: X:143.93, Y:27.71, Z:4.68
[[ 9.18752251e-01 -3.93976154e-01 -2.60209808e-02  1.43932241e+02]
 [ 3.93810218e-01  9.19120625e-01 -1.14363064e-02  2.77095006e+01]
 [ 2.84220522e-02  2.59804117e-04  9.99595978e-01  4.68270538e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.22650248099998
Centerline is valid?  [False, False]
Translation: X:143.99, Y:27.73, Z:4.68
[[ 9.17608593e-01 -3.96645812e-01 -2.58180023e-02  1.43986744e+02]
 [ 3.96476049e-01  9.17971636e-01 -1.16110902e-02  2.77310197e+01]
 [ 2.83056841e-02  4.18216581e-04  9.99599226e-01  4.68365450e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.28650248099999
Centerline is valid?  [False, False]
Translation: X:144.04, Y:27.75, Z:4.68
[[ 9.17679851e-01 -3.96486841e-01 -2.57269560e-02  1.44039159e+02]
 [ 3.96329139e-01  9.18040403e-01 -1.11817965e-02  2.77530979e+01]
 [ 2.80518202e-02  6.49670514e-05  9.99606468e-01  4.68486585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.34650248099996
Centerline is valid?  [False, False]
Translation: X:144.09, Y:27.78, Z:4.68
[[ 9.18216767e-01 -3.95271967e-01 -2.52594967e-02  1.44090719e+02]
 [ 3.95124108e-01  9.18564135e-01 -1.08106337e-02  2.77761249e+01]
 [ 2.74756081e-02 -5.41309352e-05  9.99622473e-01  4.68486807e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.40650248099996
Centerline is valid?  [False, False]
Translation: X:144.12, Y:27.79, Z:4.68
[[ 9.18608692e-01 -3.94411910e-01 -2.44400588e-02  1.44122683e+02]
 [ 3.94280837e-01  9.18933708e-01 -1.01716274e-02  2.77910890e+01]
 [ 2.64706048e-02 -2.92501510e-04  9.99649549e-01  4.68485348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.46650248099996
Centerline is valid?  [False, False]
Translation: X:144.18, Y:27.82, Z:4.69
[[ 9.19752987e-01 -3.91683530e-01 -2.52676822e-02  1.44176985e+02]
 [ 3.91531994e-01  9.20099993e-01 -1.08950276e-02  2.78157467e+01]
 [ 2.75161971e-02  1.27628173e-04  9.99621350e-01  4.68503239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.52650248099997
Centerline is valid?  [False, False]
Translation: X:144.23, Y:27.84, Z:4.69
[[ 9.21624963e-01 -3.87292746e-01 -2.47337344e-02  1.44233252e+02]
 [ 3.87167536e-01  9.21956664e-01 -9.85947352e-03  2.78412214e+01]
 [ 2.66219338e-02 -4.89362087e-04  9.99645454e-01  4.68616636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.58650248099997
Centerline is valid?  [False, False]
Translation: X:144.29, Y:27.87, Z:4.69
[[ 9.23019447e-01 -3.84056760e-01 -2.31409759e-02  1.44291674e+02]
 [ 3.83931913e-01  9.23309472e-01 -9.79310479e-03  2.78672372e+01]
 [ 2.51273903e-02  1.54667025e-04  9.99684245e-01  4.68710618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.64650248099997
Centerline is valid?  [False, False]
Translation: X:144.35, Y:27.89, Z:4.69
[[ 9.23179300e-01 -3.83809434e-01 -2.07436465e-02  1.44349802e+02]
 [ 3.83700054e-01  9.23412181e-01 -9.17673138e-03  2.78923713e+01]
 [ 2.26770519e-02  5.12430183e-04  9.99742711e-01  4.68774254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.70650248099997
Centerline is valid?  [False, False]
Translation: X:144.41, Y:27.92, Z:4.69
[[ 9.22478382e-01 -3.85433104e-01 -2.17934938e-02  1.44406561e+02]
 [ 3.85372969e-01  9.22733861e-01 -7.06373158e-03  2.79175815e+01]
 [ 2.28321906e-02 -1.88248373e-03  9.99737539e-01  4.68896378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.76650248099997
Centerline is valid?  [False, False]
Translation: X:144.46, Y:27.94, Z:4.69
[[ 9.21774459e-01 -3.87167037e-01 -2.08214431e-02  1.44460337e+02]
 [ 3.87097433e-01  9.22008806e-01 -7.43899062e-03  2.79420169e+01]
 [ 2.20776859e-02 -1.20285564e-03  9.99755535e-01  4.68953818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.937816 with order 1
Centerline goodness : 0.937802 with order 1
Centerline goodness : 0.931481 with order 1
Centerline goodness : 0.923756 with order 1
Centerline goodness : 0.920764 with order 1
Centerline goodness : 0.923754 with order 1
Centerline goodness : 0.936954 with order 1
Centerline goodness : 0.927922 with order 1
Centerline goodness : 0.942104 with order 1
Centerline goodness : 0.940642 with order 1
Centerline goodness : 0.924698 with order 1
Centerline goodness : 0.933710 with order 1
Centerline goodness : 0.920190 with order 1
Centerline goodness : 0.939434 with order 1
Centerline goodness : 0.928179 with order 1
Centerline goodness : 0.922684 with order 1
Centerline goodness : 0.923203 with order 1
Centerline goodness : 0.923451 with order 1
Centerline goodness : 0.934055 with order 1
Centerline goodness : 0.924018 with order 1
SLAMing on frame at distance 148.82650248099998
Centerline is valid?  [False, False]
Translation: X:144.51, Y:27.97, Z:4.69
[[ 9.20885413e-01 -3.89340953e-01 -1.95877032e-02  1.44512679e+02]
 [ 3.89244143e-01  9.21093632e-01 -8.69007223e-03  2.79662331e+01]
 [ 2.14255097e-02  3.78162017e-04  9.99770376e-01  4.68920660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.88650248099998
Centerline is valid?  [False, False]
Translation: X:144.56, Y:27.99, Z:4.69
[[ 9.20735448e-01 -3.89708917e-01 -1.93182348e-02  1.44564215e+02]
 [ 3.89656879e-01  9.20936861e-01 -6.54331413e-03  2.79906303e+01]
 [ 2.03408624e-02 -1.50282181e-03  9.99791974e-01  4.68962847e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.94650248099998
Centerline is valid?  [False, False]
Translation: X:144.62, Y:28.02, Z:4.69
[[ 9.21787635e-01 -3.87081694e-01 -2.18017757e-02  1.44616287e+02]
 [ 3.87041284e-01  9.22041442e-01 -6.21479476e-03  2.80159183e+01]
 [ 2.25077740e-02 -2.70946629e-03  9.99742996e-01  4.68921436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.00650248099998
Centerline is valid?  [False, False]
Translation: X:144.67, Y:28.04, Z:4.69
[[ 9.23708884e-01 -3.82531749e-01 -2.07691624e-02  1.44670047e+02]
 [ 3.82429885e-01  9.23942323e-01 -8.82990149e-03  2.80399569e+01]
 [ 2.25672258e-02  2.13510044e-04  9.99745305e-01  4.69012004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.06650248099996
Centerline is valid?  [False, False]
Translation: X:144.73, Y:28.07, Z:4.69
[[ 9.27230127e-01 -3.73847747e-01 -2.19580115e-02  1.44725029e+02]
 [ 3.73791326e-01  9.27488087e-01 -6.77443716e-03  2.80653682e+01]
 [ 2.28984022e-02 -1.92625201e-03  9.99735942e-01  4.68994454e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.12650248099996
Centerline is valid?  [False, False]
Translation: X:144.78, Y:28.09, Z:4.69
[[ 9.31415765e-01 -3.63406485e-01 -2.00099736e-02  1.44781836e+02]
 [ 3.63376521e-01  9.31627620e-01 -5.24230180e-03  2.80900249e+01]
 [ 2.05469306e-02 -2.38839206e-03  9.99786037e-01  4.69104139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.18650248099996
Centerline is valid?  [False, False]
Translation: X:144.84, Y:28.11, Z:4.69
[[ 9.34633116e-01 -3.55077372e-01 -1.95191742e-02  1.44835399e+02]
 [ 3.55096240e-01  9.34826113e-01 -2.60739520e-03  2.81136875e+01]
 [ 1.91728608e-02 -4.49422747e-03  9.99806083e-01  4.69260749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.24650248099996
Centerline is valid?  [False, False]
Translation: X:144.89, Y:28.14, Z:4.69
[[ 9.36482529e-01 -3.50221533e-01 -1.85836028e-02  1.44887250e+02]
 [ 3.50219913e-01  9.36661157e-01 -3.44800523e-03  2.81357595e+01]
 [ 1.86141046e-02 -3.27935112e-03  9.99821365e-01  4.69354345e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.30650248099997
Centerline is valid?  [False, False]
Translation: X:144.94, Y:28.16, Z:4.69
[[ 9.37623896e-01 -3.47096089e-01 -1.96401323e-02  1.44935836e+02]
 [ 3.47082915e-01  9.37825110e-01 -4.18497050e-03  2.81569744e+01]
 [ 1.98715962e-02 -2.89282604e-03  9.99798355e-01  4.69382065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.36650248099997
Centerline is valid?  [False, False]
Translation: X:144.98, Y:28.18, Z:4.69
[[ 9.38067013e-01 -3.45975060e-01 -1.82081382e-02  1.44984012e+02]
 [ 3.45981286e-01  9.38236909e-01 -2.90741513e-03  2.81781730e+01]
 [ 1.80894404e-02 -3.57232484e-03  9.99829991e-01  4.69370336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.42650248099997
Centerline is valid?  [False, False]
Translation: X:145.04, Y:28.20, Z:4.69
[[ 9.37334704e-01 -3.47971628e-01 -1.78717639e-02  1.45035258e+02]
 [ 3.47941638e-01  9.37503592e-01 -4.86121134e-03  2.81989876e+01]
 [ 1.84464065e-02 -1.66174871e-03  9.99828470e-01  4.69399266e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.48650248099997
Centerline is valid?  [False, False]
Translation: X:145.09, Y:28.22, Z:4.69
[[ 9.35896243e-01 -3.51726562e-01 -1.96633577e-02  1.45087414e+02]
 [ 3.51663708e-01  9.36102552e-01 -6.68192812e-03  2.82190512e+01]
 [ 2.07571309e-02 -6.61297848e-04  9.99784329e-01  4.69253051e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.54650248099998
Centerline is valid?  [False, False]
Translation: X:145.14, Y:28.24, Z:4.69
[[ 9.34798831e-01 -3.54635629e-01 -1.96141906e-02  1.45143546e+02]
 [ 3.54599867e-01  9.35002617e-01 -5.38895267e-03  2.82410778e+01]
 [ 2.02504341e-02 -1.91760271e-03  9.99793100e-01  4.69287938e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.60650248099998
Centerline is valid?  [False, False]
Translation: X:145.20, Y:28.26, Z:4.69
[[ 9.33686657e-01 -3.57702675e-01 -1.66739835e-02  1.45199463e+02]
 [ 3.57659439e-01  9.33835247e-01 -5.60874462e-03  2.82616492e+01]
 [ 1.75770164e-02 -7.26797564e-04  9.99845248e-01  4.69386017e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.66650248099998
Centerline is valid?  [False, False]
Translation: X:145.25, Y:28.28, Z:4.69
[[ 9.32320688e-01 -3.61172094e-01 -1.82442467e-02  1.45253075e+02]
 [ 3.61146780e-01  9.32496738e-01 -4.77880257e-03  2.82807877e+01]
 [ 1.87386707e-02 -2.13347445e-03  9.99822139e-01  4.69445559e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.72650248099998
Centerline is valid?  [False, False]
Translation: X:145.31, Y:28.30, Z:4.69
[[ 9.30988740e-01 -3.64617538e-01 -1.77205076e-02  1.45306245e+02]
 [ 3.64599893e-01  9.31154206e-01 -4.33164506e-03  2.82997496e+01]
 [ 1.80799189e-02 -2.42818239e-03  9.99833596e-01  4.69459740e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.78650248099999
Centerline is valid?  [False, False]
Translation: X:145.36, Y:28.32, Z:4.69
[[ 9.30257077e-01 -3.66564495e-01 -1.58820886e-02  1.45361163e+02]
 [ 3.66542213e-01  9.30391033e-01 -4.39686540e-03  2.83193224e+01]
 [ 1.63882875e-02 -1.73124073e-03  9.99864204e-01  4.69496305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.84650248099996
Centerline is valid?  [False, False]
Translation: X:145.38, Y:28.32, Z:4.70
[[ 9.30160448e-01 -3.66790224e-01 -1.63239827e-02  1.45375812e+02]
 [ 3.66779086e-01  9.30300393e-01 -3.77910734e-03  2.83245548e+01]
 [ 1.65723471e-02 -2.47211927e-03  9.99859613e-01  4.69596823e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.90650248099996
Centerline is valid?  [False, False]
Translation: X:145.43, Y:28.34, Z:4.70
[[ 9.30198108e-01 -3.66692192e-01 -1.63803387e-02  1.45429604e+02]
 [ 3.66678277e-01  9.30339407e-01 -3.95333549e-03  2.83449479e+01]
 [ 1.66889318e-02 -2.32892916e-03  9.99858018e-01  4.69652985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.96650248099996
Centerline is valid?  [False, False]
Translation: X:145.48, Y:28.37, Z:4.70
[[ 9.30426869e-01 -3.66161266e-01 -1.52239693e-02  1.45482926e+02]
 [ 3.66118641e-01  9.30551339e-01 -5.59875342e-03  2.83661708e+01]
 [ 1.62167316e-02 -3.64548339e-04  9.99868434e-01  4.69602005e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.898085 with order 1
Centerline goodness : 0.911768 with order 1
Centerline goodness : 0.949960 with order 1
Centerline goodness : 0.948692 with order 1
Centerline goodness : 0.953968 with order 1
Centerline goodness : 0.953891 with order 1
Centerline goodness : 0.943659 with order 1
Centerline goodness : 0.946446 with order 1
Centerline goodness : 0.893766 with order 1
Centerline goodness : 0.951395 with order 1
Centerline goodness : 0.927914 with order 1
Centerline goodness : 0.920993 with order 1
Centerline goodness : 0.942538 with order 1
Centerline goodness : 0.951389 with order 1
Centerline goodness : 0.951009 with order 1
Centerline goodness : 0.928937 with order 1
Centerline goodness : 0.949080 with order 1
Centerline goodness : 0.933693 with order 1
Centerline goodness : 0.924150 with order 1
Centerline goodness : 0.944532 with order 1
SLAMing on frame at distance 150.02650248099997
Centerline is valid?  [False, False]
Translation: X:145.54, Y:28.39, Z:4.70
[[ 9.31235626e-01 -3.64067217e-01 -1.59771693e-02  1.45536517e+02]
 [ 3.64050065e-01  9.31370477e-01 -4.07251547e-03  2.83890704e+01]
 [ 1.63633332e-02 -2.02401803e-03  9.99864063e-01  4.69600188e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.08650248099997
Centerline is valid?  [False, False]
Translation: X:145.60, Y:28.41, Z:4.70
[[ 9.30949535e-01 -3.64855828e-01 -1.46009789e-02  1.45596085e+02]
 [ 3.64827706e-01  9.31063484e-01 -4.64045019e-03  2.84141346e+01]
 [ 1.52875336e-02 -1.00681670e-03  9.99882632e-01  4.69604310e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.14650248099997
Centerline is valid?  [False, False]
Translation: X:145.66, Y:28.44, Z:4.70
[[ 9.29361214e-01 -3.68960547e-01 -1.24839286e-02  1.45658457e+02]
 [ 3.68902088e-01  9.29443504e-01 -6.78397673e-03  2.84392918e+01]
 [ 1.41061261e-02  1.69941751e-03  9.99899059e-01  4.69653976e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.20650248099997
Centerline is valid?  [False, True]
Translation: X:145.72, Y:28.46, Z:4.70
[[ 9.26847189e-01 -3.75166232e-01 -1.43033733e-02  1.45719397e+02]
 [ 3.75148298e-01  9.26956096e-01 -4.01866726e-03  2.84632960e+01]
 [ 1.47662674e-02 -1.64119572e-03  9.99889626e-01  4.69746559e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.26650248099997
Centerline is valid?  [True, False]
Translation: X:145.77, Y:28.48, Z:4.70
[[ 9.24620748e-01 -3.80554311e-01 -1.59652518e-02  1.45772243e+02]
 [ 3.80541812e-01  9.24755354e-01 -3.93240027e-03  2.84840396e+01]
 [ 1.62604439e-02 -2.43946697e-03  9.99864814e-01  4.69765814e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.32650248099998
Centerline is valid?  [False, False]
Translation: X:145.83, Y:28.51, Z:4.70
[[ 9.22658566e-01 -3.85287793e-01 -1.59526930e-02  1.45825934e+02]
 [ 3.85238135e-01  9.22796368e-01 -6.20023170e-03  2.85059352e+01]
 [ 1.71099607e-02 -4.24888812e-04  9.99853524e-01  4.69792232e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.38650248099998
Centerline is valid?  [False, True]
Translation: X:145.88, Y:28.53, Z:4.70
[[ 9.21532606e-01 -3.87959316e-01 -1.62857478e-02  1.45880777e+02]
 [ 3.87938436e-01  9.21674052e-01 -4.55101828e-03  2.85300613e+01]
 [ 1.67757611e-02 -2.12395581e-03  9.99857021e-01  4.69815914e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.44650248099998
Centerline is valid?  [True, True]
Translation: X:145.93, Y:28.55, Z:4.70
[[ 9.21843008e-01 -3.87257202e-01 -1.54054388e-02  1.45933832e+02]
 [ 3.87200899e-01  9.21971716e-01 -6.60450323e-03  2.85530508e+01]
 [ 1.67610203e-02  1.23315365e-04  9.99859517e-01  4.69809763e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.50650248099998
Centerline is valid?  [True, True]
Translation: X:145.99, Y:28.58, Z:4.70
[[ 9.23220681e-01 -3.83961285e-01 -1.54047327e-02  1.45986654e+02]
 [ 3.83904495e-01  9.23349174e-01 -6.60614977e-03  2.85778549e+01]
 [ 1.67604530e-02  1.84987953e-04  9.99859517e-01  4.69907451e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.56650248099996
Centerline is valid?  [True, True]
Translation: X:146.04, Y:28.60, Z:4.70
[[ 9.24257238e-01 -3.81459424e-01 -1.54034695e-02  1.46039969e+02]
 [ 3.81402237e-01  9.24385555e-01 -6.60909388e-03  2.86030076e+01]
 [ 1.67598458e-02  2.33585132e-04  9.99859517e-01  4.70006065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.62650248099996
Centerline is valid?  [True, False]
Translation: X:146.10, Y:28.63, Z:4.70
[[ 9.25025359e-01 -3.79608609e-01 -1.50129764e-02  1.46096843e+02]
 [ 3.79539364e-01  9.25146545e-01 -7.33080102e-03  2.86285316e+01]
 [ 1.66720384e-02  1.08316132e-03  9.99860425e-01  4.69981320e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.68650248099996
Centerline is valid?  [False, False]
Translation: X:146.15, Y:28.65, Z:4.70
[[ 9.24723950e-01 -3.80379573e-01 -1.40355422e-02  1.46152768e+02]
 [ 3.80313164e-01  9.24829471e-01 -7.23507151e-03  2.86520377e+01]
 [ 1.57325564e-02  1.35254247e-03  9.99875321e-01  4.70012939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.74650248099996
Centerline is valid?  [False, False]
Translation: X:146.18, Y:28.66, Z:4.70
[[ 9.23844927e-01 -3.82532896e-01 -1.33841136e-02  1.46180124e+02]
 [ 3.82485951e-01  9.23941771e-01 -6.00834304e-03  2.86623490e+01]
 [ 1.46645305e-02  4.31541800e-04  9.99892377e-01  4.70025545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.80650248099997
Centerline is valid?  [False, False]
Translation: X:146.25, Y:28.69, Z:4.70
[[ 9.21519905e-01 -3.88117761e-01 -1.28711978e-02  1.46250507e+02]
 [ 3.88059710e-01  9.21608862e-01 -6.83865684e-03  2.86871197e+01]
 [ 1.45164141e-02  1.30716513e-03  9.99893777e-01  4.70089638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.86650248099997
Centerline is valid?  [False, False]
Translation: X:146.27, Y:28.69, Z:4.70
[[ 9.20781668e-01 -3.89820739e-01 -1.41743432e-02  1.46273142e+02]
 [ 3.89783687e-01  9.20890595e-01 -5.40263237e-03  2.86945531e+01]
 [ 1.51590775e-02 -5.50282919e-04  9.99884943e-01  4.70184082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.92650248099997
Centerline is valid?  [False, False]
Translation: X:146.34, Y:28.72, Z:4.70
[[ 9.19508253e-01 -3.92896829e-01 -1.16899701e-02  1.46339991e+02]
 [ 3.92829167e-01  9.19579178e-01 -7.70590478e-03  2.87189712e+01]
 [ 1.37774787e-02  2.49348181e-03  9.99901977e-01  4.70203865e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.98650248099997
Centerline is valid?  [False, False]
Translation: X:146.39, Y:28.74, Z:4.70
[[ 9.19338353e-01 -3.93298943e-01 -1.15297075e-02  1.46389128e+02]
 [ 3.93233643e-01  9.19407463e-01 -7.56430405e-03  2.87385762e+01]
 [ 1.35755319e-02  2.42028594e-03  9.99904919e-01  4.70240937e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.04650248099998
Centerline is valid?  [False, False]
Translation: X:146.42, Y:28.75, Z:4.70
[[ 9.20173500e-01 -3.91345558e-01 -1.13747122e-02  1.46416226e+02]
 [ 3.91293330e-01  9.20242380e-01 -6.59488895e-03  2.87497155e+01]
 [ 1.30483727e-02  1.61759306e-03  9.99913558e-01  4.70220925e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.10650248099998
Centerline is valid?  [False, False]
Translation: X:146.49, Y:28.78, Z:4.70
[[ 9.23743316e-01 -3.82831827e-01 -1.17506648e-02  1.46490111e+02]
 [ 3.82776106e-01  9.23816398e-01 -6.76134399e-03  2.87796304e+01]
 [ 1.34439145e-02  1.74787259e-03  9.99908099e-01  4.70158035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.16650248099998
Centerline is valid?  [False, False]
Translation: X:146.52, Y:28.79, Z:4.70
[[ 9.25669183e-01 -3.78146738e-01 -1.18999428e-02  1.46515152e+02]
 [ 3.78114716e-01  9.25745668e-01 -4.92136901e-03  2.87895885e+01]
 [ 1.28773202e-02  5.60161142e-05  9.99917082e-01  4.70258374e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.996144 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994484 with order 1
Centerline goodness : 0.971004 with order 1
Centerline goodness : 0.985814 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994927 with order 1
Centerline goodness : 0.994019 with order 1
Centerline goodness : 0.982439 with order 1
Centerline goodness : 0.954991 with order 1
Centerline goodness : 0.934395 with order 1
Centerline goodness : 0.945099 with order 1
Centerline goodness : 0.963952 with order 1
Centerline goodness : 0.978075 with order 1
Centerline goodness : 0.942490 with order 1
SLAMing on frame at distance 151.22650248099998
Centerline is valid?  [False, False]
Translation: X:146.57, Y:28.81, Z:4.70
[[ 9.28235219e-01 -3.71826386e-01 -1.11587203e-02  1.46571747e+02]
 [ 3.71785748e-01  9.28301700e-01 -5.59568487e-03  2.88123666e+01]
 [ 1.24392823e-02  1.04545860e-03  9.99922083e-01  4.70345178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.28650248099999
Centerline is valid?  [False, False]
Translation: X:146.64, Y:28.84, Z:4.70
[[ 9.30774591e-01 -3.65358572e-01 -1.31063018e-02  1.46640606e+02]
 [ 3.65333428e-01  9.30866568e-01 -4.34965883e-03  2.88392566e+01]
 [ 1.37894033e-02 -7.39618255e-04  9.99904648e-01  4.70435216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.34650248099996
Centerline is valid?  [False, False]
Translation: X:146.66, Y:28.85, Z:4.71
[[ 9.31362255e-01 -3.63746194e-01 -1.59077543e-02  1.46660812e+02]
 [ 3.63733520e-01  9.31495355e-01 -3.78548903e-03  2.88463557e+01]
 [ 1.61949565e-02 -2.26052187e-03  9.99866298e-01  4.70604112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.40650248099996
Centerline is valid?  [False, True]
Translation: X:146.71, Y:28.87, Z:4.71
[[ 9.30515978e-01 -3.66003362e-01 -1.34741947e-02  1.46714040e+02]
 [ 3.65968530e-01  9.30613500e-01 -5.05452042e-03  2.88665401e+01]
 [ 1.43892389e-02 -2.27819209e-04  9.99896444e-01  4.70619405e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.46650248099996
Centerline is valid?  [True, True]
Translation: X:146.77, Y:28.89, Z:4.71
[[ 9.27829133e-01 -3.72772744e-01 -1.31749932e-02  1.46769370e+02]
 [ 3.72728764e-01  9.27922576e-01 -5.74114868e-03  2.88865577e+01]
 [ 1.43655174e-02  4.16106059e-04  9.99896724e-01  4.70667224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.52650248099997
Centerline is valid?  [True, True]
Translation: X:146.82, Y:28.91, Z:4.71
[[ 9.24735409e-01 -3.80382513e-01 -1.31745017e-02  1.46823619e+02]
 [ 3.80339285e-01  9.24829203e-01 -5.74227633e-03  2.89086456e+01]
 [ 1.43684254e-02  2.99305679e-04  9.99896724e-01  4.70751326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.58650248099997
Centerline is valid?  [True, True]
Translation: X:146.88, Y:28.93, Z:4.71
[[ 9.21740997e-01 -3.87582224e-01 -1.31739982e-02  1.46880199e+02]
 [ 3.87539713e-01  9.21835118e-01 -5.74343131e-03  2.89266457e+01]
 [ 1.43703061e-02  1.88508618e-04  9.99896724e-01  4.70836150e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.64650248099997
Centerline is valid?  [True, True]
Translation: X:146.94, Y:28.95, Z:4.71
[[ 9.18906309e-01 -3.94255823e-01 -1.31734809e-02  1.46935365e+02]
 [ 3.94213979e-01  9.19000728e-01 -5.74461751e-03  2.89490423e+01]
 [ 1.43712875e-02  8.55949486e-05  9.99896724e-01  4.70921632e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.70650248099997
Centerline is valid?  [True, True]
Translation: X:146.99, Y:28.97, Z:4.71
[[ 9.15890240e-01 -4.01212624e-01 -1.31718794e-02  1.46989880e+02]
 [ 4.01171444e-01  9.15984951e-01 -5.74828736e-03  2.89705838e+01]
 [ 1.43715287e-02 -1.93815804e-05  9.99896724e-01  4.71005630e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.76650248099997
Centerline is valid?  [True, True]
Translation: X:147.04, Y:28.99, Z:4.71
[[ 9.15438866e-01 -4.02241506e-01 -1.31702092e-02  1.47043684e+02]
 [ 4.02200377e-01  9.15533599e-01 -5.75211140e-03  2.89926532e+01]
 [ 1.43715070e-02 -3.13567778e-05  9.99896724e-01  4.71088983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.82650248099998
Centerline is valid?  [True, True]
Translation: X:147.10, Y:29.01, Z:4.71
[[ 9.14441275e-01 -4.04504285e-01 -1.31696059e-02  1.47098565e+02]
 [ 4.04463371e-01  9.14536100e-01 -5.75349238e-03  2.90145986e+01]
 [ 1.43713924e-02 -6.53922981e-05  9.99896724e-01  4.71173818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.88650248099998
Centerline is valid?  [True, True]
Translation: X:147.15, Y:29.04, Z:4.71
[[ 9.14997127e-01 -4.03245383e-01 -1.31688573e-02  1.47152591e+02]
 [ 4.03204314e-01  9.15091886e-01 -5.75520543e-03  2.90384612e+01]
 [ 1.43714744e-02 -4.37436220e-05  9.99896724e-01  4.71258611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.94650248099998
Centerline is valid?  [True, True]
Translation: X:147.21, Y:29.06, Z:4.71
[[ 9.16505354e-01 -3.99805658e-01 -1.31670735e-02  1.47206596e+02]
 [ 3.99764174e-01  9.16599932e-01 -5.75928359e-03  2.90618686e+01]
 [ 1.43715328e-02  1.46899957e-05  9.99896724e-01  4.71342984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.00650248099998
Centerline is valid?  [True, True]
Translation: X:147.26, Y:29.09, Z:4.71
[[ 9.18174315e-01 -3.95957817e-01 -1.31656616e-02  1.47259768e+02]
 [ 3.95915891e-01  9.18268698e-01 -5.76250927e-03  2.90873763e+01]
 [ 1.43713255e-02  7.84933598e-05  9.99896724e-01  4.71427517e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.06650248099996
Centerline is valid?  [True, True]
Translation: X:147.31, Y:29.11, Z:4.72
[[ 9.19721899e-01 -3.92349766e-01 -1.31639546e-02  1.47310689e+02]
 [ 3.92307414e-01  9.19816091e-01 -5.76640621e-03  2.91143534e+01]
 [ 1.43708654e-02  1.39173093e-04  9.99896724e-01  4.71509898e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.12650248099996
Centerline is valid?  [True, True]
Translation: X:147.36, Y:29.14, Z:4.72
[[ 9.20722893e-01 -3.89994985e-01 -1.31630421e-02  1.47363946e+02]
 [ 3.89952362e-01  9.20816963e-01 -5.76848842e-03  2.91387155e+01]
 [ 1.43704340e-02  1.78220001e-04  9.99896724e-01  4.71593949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.18650248099996
Centerline is valid?  [True, True]
Translation: X:147.42, Y:29.16, Z:4.72
[[ 9.19880267e-01 -3.91978371e-01 -1.31625345e-02  1.47417592e+02]
 [ 3.91935934e-01  9.19974421e-01 -5.76964650e-03  2.91633756e+01]
 [ 1.43707716e-02  1.48513729e-04  9.99896724e-01  4.71678734e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.24650248099996
Centerline is valid?  [True, True]
Translation: X:147.47, Y:29.19, Z:4.72
[[ 9.18464642e-01 -3.95284068e-01 -1.31607815e-02  1.47469694e+02]
 [ 3.95241913e-01  9.18558923e-01 -5.77364233e-03  2.91895625e+01]
 [ 1.43711821e-02  1.01193892e-04  9.99896724e-01  4.71762214e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.30650248099997
Centerline is valid?  [True, True]
Translation: X:147.52, Y:29.21, Z:4.72
[[ 9.17009416e-01 -3.98648439e-01 -1.31587519e-02  1.47521882e+02]
 [ 3.98606563e-01  9.17103822e-01 -5.77826420e-03  2.92147573e+01]
 [ 1.43714377e-02  5.35577998e-05  9.99896724e-01  4.71845203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.36650248099997
Centerline is valid?  [True, True]
Translation: X:147.58, Y:29.24, Z:4.72
[[ 9.15901975e-01 -4.01186294e-01 -1.31578814e-02  1.47575055e+02]
 [ 4.01144651e-01  9.15996483e-01 -5.78024577e-03  2.92403719e+01]
 [ 1.43715285e-02  1.59247618e-05  9.99896724e-01  4.71929874e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 152.42650248099997
Centerline is valid?  [True, True]
Translation: X:147.63, Y:29.26, Z:4.72
[[ 9.18211545e-01 -3.95871793e-01 -1.31561044e-02  1.47629755e+02]
 [ 3.95829546e-01  9.18305784e-01 -5.78428751e-03  2.92590811e+01]
 [ 1.43711630e-02  1.03624742e-04  9.99896724e-01  4.72012450e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.48650248099997
Centerline is valid?  [True, True]
Translation: X:147.68, Y:29.29, Z:4.72
[[ 9.19042653e-01 -3.93938495e-01 -1.31554231e-02  1.47682013e+02]
 [ 3.93896027e-01  9.19136793e-01 -5.78583658e-03  2.92862386e+01]
 [ 1.43708972e-02  1.35561694e-04  9.99896724e-01  4.72096835e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.54650248099998
Centerline is valid?  [True, True]
Translation: X:147.73, Y:29.32, Z:4.72
[[ 9.16787121e-01 -3.99159560e-01 -1.31537643e-02  1.47731708e+02]
 [ 3.99117574e-01  9.16881477e-01 -5.78960531e-03  2.93166549e+01]
 [ 1.43714192e-02  5.79370744e-05  9.99896724e-01  4.72179617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.60650248099998
Centerline is valid?  [True, True]
Translation: X:147.79, Y:29.34, Z:4.72
[[ 9.16063023e-01 -4.00818625e-01 -1.31517193e-02  1.47786063e+02]
 [ 4.00776744e-01  9.16157426e-01 -5.79424710e-03  2.93399330e+01]
 [ 1.43714874e-02  3.69922802e-05  9.99896724e-01  4.72264352e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.66650248099998
Centerline is valid?  [True, True]
Translation: X:147.84, Y:29.37, Z:4.72
[[ 9.20381469e-01 -3.90800497e-01 -1.31500586e-02  1.47837718e+02]
 [ 3.90757534e-01  9.20475384e-01 -5.79801360e-03  2.93685386e+01]
 [ 1.43701718e-02  1.97899808e-04  9.99896724e-01  4.72348672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.72650248099998
Centerline is valid?  [True, True]
Translation: X:147.89, Y:29.39, Z:4.72
[[ 9.19560801e-01 -3.92727713e-01 -1.31482806e-02  1.47890707e+02]
 [ 3.92684890e-01  9.19654779e-01 -5.80204283e-03  2.93929356e+01]
 [ 1.43705021e-02  1.72200038e-04  9.99896724e-01  4.72432295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.78650248099996
Centerline is valid?  [True, True]
Translation: X:147.94, Y:29.42, Z:4.73
[[ 9.18002676e-01 -3.96356220e-01 -1.31466464e-02  1.47943848e+02]
 [ 3.96313715e-01  9.18096799e-01 -5.80574337e-03  2.94177194e+01]
 [ 1.43710365e-02  1.19491678e-04  9.99896724e-01  4.72516360e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.84650248099996
Centerline is valid?  [True, True]
Translation: X:148.00, Y:29.44, Z:4.73
[[ 9.14631838e-01 -4.04073979e-01 -1.31461057e-02  1.47997574e+02]
 [ 4.04032251e-01  9.14726309e-01 -5.80696737e-03  2.94440843e+01]
 [ 1.43715332e-02 -2.13433791e-07  9.99896724e-01  4.72602243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.90650248099996
Centerline is valid?  [True, True]
Translation: X:148.05, Y:29.47, Z:4.73
[[ 9.17041357e-01 -3.98575430e-01 -1.31443981e-02  1.48050708e+02]
 [ 3.98533080e-01  9.17135551e-01 -5.81082997e-03  2.94664955e+01]
 [ 1.43712489e-02  9.02939228e-05  9.99896724e-01  4.72684913e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.96650248099996
Centerline is valid?  [True, True]
Translation: X:148.10, Y:29.49, Z:4.73
[[ 9.14207956e-01 -4.05032166e-01 -1.31437592e-02  1.48103949e+02]
 [ 4.04990460e-01  9.14302436e-01 -5.81227486e-03  2.94891795e+01]
 [ 1.43715293e-02 -9.46916869e-06  9.99896724e-01  4.72768009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.02650248099997
Centerline is valid?  [True, True]
Translation: X:148.16, Y:29.51, Z:4.73
[[ 9.17223955e-01 -3.98155088e-01 -1.31431327e-02  1.48157955e+02]
 [ 3.98112654e-01  9.17318110e-01 -5.81369118e-03  2.95134747e+01]
 [ 1.43711844e-02  1.00009373e-04  9.99896724e-01  4.72853049e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.08650248099997
Centerline is valid?  [True, True]
Translation: X:148.21, Y:29.54, Z:4.73
[[ 9.20811963e-01 -3.89785369e-01 -1.31413466e-02  1.48211024e+02]
 [ 3.89742022e-01  9.20905701e-01 -5.81772572e-03  2.95378241e+01]
 [ 1.43696054e-02  2.35296445e-04  9.99896724e-01  4.72936750e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.14650248099997
Centerline is valid?  [True, True]
Translation: X:148.27, Y:29.56, Z:4.73
[[ 9.22948980e-01 -3.84697936e-01 -1.31407007e-02  1.48265886e+02]
 [ 3.84654051e-01  9.23042468e-01 -5.81918426e-03  2.95605986e+01]
 [ 1.43680530e-02  3.16186417e-04  9.99896724e-01  4.73022027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.20650248099997
Centerline is valid?  [True, True]
Translation: X:148.32, Y:29.59, Z:4.73
[[ 9.23107814e-01 -3.84316710e-01 -1.31389112e-02  1.48319609e+02]
 [ 3.84272729e-01  9.23201256e-01 -5.82322184e-03  2.95859690e+01]
 [ 1.43678208e-02  3.26536303e-04  9.99896724e-01  4.73107183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.26650248099997
Centerline is valid?  [True, True]
Translation: X:148.37, Y:29.61, Z:4.73
[[ 9.24713884e-01 -3.80436101e-01 -1.31379239e-02  1.48374032e+02]
 [ 3.80391697e-01  9.24807126e-01 -5.82544846e-03  2.96066192e+01]
 [ 1.43662566e-02  3.89315892e-04  9.99896724e-01  4.73190605e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.32650248099998
Centerline is valid?  [True, True]
Translation: X:148.43, Y:29.63, Z:4.73
[[ 9.23886827e-01 -3.82440243e-01 -1.31373905e-02  1.48428910e+02]
 [ 3.82396024e-01  9.23980157e-01 -5.82665111e-03  2.96287185e+01]
 [ 1.43670340e-02  3.59480300e-04  9.99896724e-01  4.73275521e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.38650248099998
Centerline is valid?  [True, True]
Translation: X:148.48, Y:29.65, Z:4.73
[[ 9.22914120e-01 -3.84781736e-01 -1.31355504e-02  1.48482750e+02]
 [ 3.84737695e-01  9.23007534e-01 -5.83079658e-03  2.96500841e+01]
 [ 1.43677960e-02  3.27583116e-04  9.99896724e-01  4.73358489e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.44650248099998
Centerline is valid?  [True, True]
Translation: X:148.54, Y:29.67, Z:4.73
[[ 9.21548664e-01 -3.88040636e-01 -1.31349067e-02  1.48537926e+02]
 [ 3.87996904e-01  9.21642223e-01 -5.83224616e-03  2.96707770e+01]
 [ 1.43688332e-02  2.78395506e-04  9.99896724e-01  4.73442961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.50650248099998
Centerline is valid?  [True, True]
Translation: X:148.59, Y:29.69, Z:4.74
[[ 9.20014810e-01 -3.91663420e-01 -1.31345306e-02  1.48592371e+02]
 [ 3.91620044e-01  9.20108535e-01 -5.83309310e-03  2.96946174e+01]
 [ 1.43698029e-02  2.22786580e-04  9.99896724e-01  4.73528342e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.56650248099996
Centerline is valid?  [True, True]
Translation: X:148.65, Y:29.72, Z:4.74
[[ 9.19648639e-01 -3.92522497e-01 -1.31328258e-02  1.48645755e+02]
 [ 3.92479154e-01  9.19742379e-01 -5.83692887e-03  2.97191221e+01]
 [ 1.43699423e-02  2.13563337e-04  9.99896724e-01  4.73612555e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 153.62650248099996
Centerline is valid?  [True, True]
Translation: X:148.70, Y:29.74, Z:4.74
[[ 9.20016394e-01 -3.91659778e-01 -1.31321472e-02  1.48698384e+02]
 [ 3.91616326e-01  9.20110084e-01 -5.83845520e-03  2.97427316e+01]
 [ 1.43697091e-02  2.28711269e-04  9.99896724e-01  4.73695378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.68650248099996
Centerline is valid?  [True, True]
Translation: X:148.75, Y:29.77, Z:4.74
[[ 9.19508122e-01 -3.92851608e-01 -1.31311766e-02  1.48752557e+02]
 [ 3.92808246e-01  9.19601853e-01 -5.84063743e-03  2.97669760e+01]
 [ 1.43699581e-02  2.12479121e-04  9.99896724e-01  4.73780566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.74650248099996
Centerline is valid?  [True, True]
Translation: X:148.80, Y:29.79, Z:4.74
[[ 9.20663219e-01 -3.90136966e-01 -1.31295393e-02  1.48804628e+02]
 [ 3.90093275e-01  9.20756798e-01 -5.84431559e-03  2.97914728e+01]
 [ 1.43691961e-02  2.58901417e-04  9.99896724e-01  4.73863060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.80650248099997
Centerline is valid?  [True, True]
Translation: X:148.86, Y:29.82, Z:4.74
[[ 9.21849194e-01 -3.87326352e-01 -1.31286065e-02  1.48857559e+02]
 [ 3.87282346e-01  9.21942625e-01 -5.84641037e-03  2.98185091e+01]
 [ 1.43682907e-02  3.05031175e-04  9.99896724e-01  4.73948253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.86650248099997
Centerline is valid?  [True, True]
Translation: X:148.91, Y:29.84, Z:4.74
[[ 9.22627593e-01 -3.85468555e-01 -1.31270055e-02  1.48910456e+02]
 [ 3.85424310e-01  9.22720910e-01 -5.85000279e-03  2.98414355e+01]
 [ 1.43675546e-02  3.37906951e-04  9.99896724e-01  4.74030919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.92650248099997
Centerline is valid?  [True, True]
Translation: X:148.96, Y:29.87, Z:4.74
[[ 9.21936596e-01 -3.87118344e-01 -1.31263490e-02  1.48963833e+02]
 [ 3.87074244e-01  9.22029983e-01 -5.85147549e-03  2.98682705e+01]
 [ 1.43681009e-02  3.13817773e-04  9.99896724e-01  4.74116616e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.98650248099997
Centerline is valid?  [True, True]
Translation: X:149.02, Y:29.90, Z:4.74
[[ 9.22142983e-01 -3.86626515e-01 -1.31246775e-02  1.49017475e+02]
 [ 3.86582313e-01  9.22236321e-01 -5.85522231e-03  2.98950311e+01]
 [ 1.43678385e-02  3.25583994e-04  9.99896724e-01  4.74202497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.04650248099998
Centerline is valid?  [True, True]
Translation: X:149.07, Y:29.92, Z:4.74
[[ 9.20984702e-01 -3.89377662e-01 -1.31230420e-02  1.49070419e+02]
 [ 3.89333686e-01  9.21078148e-01 -5.85888541e-03  2.99225579e+01]
 [ 1.43686664e-02  2.86701501e-04  9.99896724e-01  4.74287918e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.10650248099998
Centerline is valid?  [True, True]
Translation: X:149.12, Y:29.95, Z:4.74
[[ 9.20710060e-01 -3.90026689e-01 -1.31212844e-02  1.49123037e+02]
 [ 3.89982723e-01  9.20803510e-01 -5.86281908e-03  2.99477766e+01]
 [ 1.43687807e-02  2.80882282e-04  9.99896724e-01  4.74371546e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.16650248099998
Centerline is valid?  [True, True]
Translation: X:149.18, Y:29.97, Z:4.74
[[ 9.17240702e-01 -3.98117250e-01 -1.31206157e-02  1.49175189e+02]
 [ 3.98074087e-01  9.17334525e-01 -5.86431520e-03  2.99723423e+01]
 [ 1.43706788e-02  1.56011462e-04  9.99896724e-01  4.74454309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.22650248099998
Centerline is valid?  [True, True]
Translation: X:149.23, Y:30.00, Z:4.75
[[ 9.12161154e-01 -4.09621650e-01 -1.31199599e-02  1.49229059e+02]
 [ 4.09579650e-01  9.12255503e-01 -5.86578216e-03  2.99953870e+01]
 [ 1.43715070e-02 -2.31299494e-05  9.99896724e-01  4.74538435e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.28650248099996
Centerline is valid?  [True, True]
Translation: X:149.28, Y:30.02, Z:4.75
[[ 9.13021743e-01 -4.07699862e-01 -1.31194123e-02  1.49284694e+02]
 [ 4.07657645e-01  9.13115996e-01 -5.86700658e-03  3.00164632e+01]
 [ 1.43715230e-02  8.47585582e-06  9.99896724e-01  4.74623735e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.34650248099996
Centerline is valid?  [True, True]
Translation: X:149.34, Y:30.04, Z:4.75
[[ 9.12402766e-01 -4.09083265e-01 -1.31177499e-02  1.49337067e+02]
 [ 4.09041137e-01  9.12497059e-01 -5.87072119e-03  3.00419707e+01]
 [ 1.43715220e-02 -9.23706779e-06  9.99896724e-01  4.74707224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.40650248099996
Centerline is valid?  [True, True]
Translation: X:149.39, Y:30.07, Z:4.75
[[ 9.11995095e-01 -4.09991371e-01 -1.31157363e-02  1.49388399e+02]
 [ 4.09949273e-01  9.12089401e-01 -5.87521626e-03  3.00693464e+01]
 [ 1.43715120e-02 -1.86181470e-05  9.99896724e-01  4.74790404e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.46650248099996
Centerline is valid?  [True, True]
Translation: X:149.44, Y:30.10, Z:4.75
[[ 9.13452412e-01 -4.06734169e-01 -1.31151199e-02  1.49440188e+02]
 [ 4.06691715e-01  9.13546559e-01 -5.87659192e-03  3.00972657e+01]
 [ 1.43714834e-02  3.41764676e-05  9.99896724e-01  4.74874669e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.52650248099997
Centerline is valid?  [True, True]
Translation: X:149.49, Y:30.13, Z:4.75
[[ 9.15745408e-01 -4.01544999e-01 -1.31134291e-02  1.49492466e+02]
 [ 4.01501958e-01  9.15839287e-01 -5.88036245e-03  3.01255279e+01]
 [ 1.43710237e-02  1.19847461e-04  9.99896724e-01  4.74959656e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.58650248099997
Centerline is valid?  [True, True]
Translation: X:149.54, Y:30.15, Z:4.75
[[ 9.17764005e-01 -3.96909706e-01 -1.31117197e-02  1.49543938e+02]
 [ 3.96866136e-01  9.17857640e-01 -5.88417144e-03  3.01544590e+01]
 [ 1.43701769e-02  1.96683204e-04  9.99896724e-01  4.75043980e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.64650248099997
Centerline is valid?  [True, True]
Translation: X:149.60, Y:30.18, Z:4.75
[[ 9.17174762e-01 -3.98269486e-01 -1.31099717e-02  1.49596466e+02]
 [ 3.98226000e-01  9.17268436e-01 -5.88806357e-03  3.01820583e+01]
 [ 1.43703993e-02  1.79651740e-04  9.99896724e-01  4.75128906e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.70650248099997
Centerline is valid?  [True, True]
Translation: X:149.65, Y:30.21, Z:4.75
[[ 9.19131458e-01 -3.93732830e-01 -1.31080954e-02  1.49648012e+02]
 [ 3.93688821e-01  9.19224888e-01 -5.89223750e-03  3.02082655e+01]
 [ 1.43692549e-02  2.55230212e-04  9.99896724e-01  4.75211711e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.76650248099997
Centerline is valid?  [True, True]
Translation: X:149.70, Y:30.24, Z:4.75
[[ 9.18771061e-01 -3.94573108e-01 -1.31072380e-02  1.49701081e+02]
 [ 3.94529157e-01  9.18864518e-01 -5.89414426e-03  3.02352948e+01]
 [ 1.43694467e-02  2.44181621e-04  9.99896724e-01  4.75297114e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 154.82650248099998
Centerline is valid?  [True, True]
Translation: X:149.75, Y:30.26, Z:4.75
[[ 9.19847001e-01 -3.92058336e-01 -1.31055655e-02  1.49753980e+02]
 [ 3.92014077e-01  9.19940313e-01 -5.89786068e-03  3.02634541e+01]
 [ 1.43686435e-02  2.87563300e-04  9.99896724e-01  4.75382873e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.88650248099998
Centerline is valid?  [True, True]
Translation: X:149.81, Y:30.29, Z:4.75
[[ 9.19386948e-01 -3.93136015e-01 -1.31039674e-02  1.49806038e+02]
 [ 3.93091815e-01  9.19480287e-01 -5.90140915e-03  3.02882578e+01]
 [ 1.43688962e-02  2.74616201e-04  9.99896724e-01  4.75465560e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.94650248099998
Centerline is valid?  [True, True]
Translation: X:149.86, Y:30.31, Z:4.76
[[ 9.20900048e-01 -3.89578495e-01 -1.31033257e-02  1.49858257e+02]
 [ 3.89533915e-01  9.20993206e-01 -5.90283363e-03  3.03138529e+01]
 [ 1.43676910e-02  3.31730006e-04  9.99896724e-01  4.75549030e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.00650248099998
Centerline is valid?  [True, True]
Translation: X:149.91, Y:30.34, Z:4.76
[[ 9.21371831e-01 -3.88461459e-01 -1.31012878e-02  1.49910881e+02]
 [ 3.88416701e-01  9.21464904e-01 -5.90735332e-03  3.03413994e+01]
 [ 1.43671560e-02  3.54109962e-04  9.99896724e-01  4.75634033e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.06650248099996
Centerline is valid?  [True, True]
Translation: X:149.96, Y:30.37, Z:4.76
[[ 9.21839503e-01 -3.87350386e-01 -1.31000016e-02  1.49962735e+02]
 [ 3.87305475e-01  9.21932502e-01 -5.91020416e-03  3.03690578e+01]
 [ 1.43666371e-02  3.74557311e-04  9.99896724e-01  4.75718178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.12650248099996
Centerline is valid?  [True, True]
Translation: X:150.02, Y:30.40, Z:4.76
[[ 9.20613423e-01 -3.90255467e-01 -1.30994583e-02  1.50015965e+02]
 [ 3.90210833e-01  9.20706555e-01 -5.91140804e-03  3.03953816e+01]
 [ 1.43677165e-02  3.30571038e-04  9.99896724e-01  4.75803417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.18650248099996
Centerline is valid?  [True, True]
Translation: X:150.07, Y:30.42, Z:4.76
[[ 9.20898341e-01 -3.89582724e-01 -1.30975747e-02  1.50070493e+02]
 [ 3.89537962e-01  9.20991412e-01 -5.91557862e-03  3.04205395e+01]
 [ 1.43673610e-02  3.45643985e-04  9.99896724e-01  4.75889525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.24650248099996
Centerline is valid?  [True, True]
Translation: X:150.12, Y:30.45, Z:4.76
[[ 9.17867740e-01 -3.96670280e-01 -1.30958696e-02  1.50122899e+02]
 [ 3.96626183e-01  9.17961128e-01 -5.91935095e-03  3.04457440e+01]
 [ 1.43695298e-02  2.39016515e-04  9.99896724e-01  4.75972901e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.30650248099997
Centerline is valid?  [True, True]
Translation: X:150.18, Y:30.47, Z:4.76
[[ 9.16716196e-01 -3.99324341e-01 -1.30952947e-02  1.50176623e+02]
 [ 3.99280497e-01  9.16809703e-01 -5.92062258e-03  3.04724343e+01]
 [ 1.43701419e-02  1.98834854e-04  9.99896724e-01  4.76059004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.36650248099997
Centerline is valid?  [True, True]
Translation: X:150.23, Y:30.50, Z:4.76
[[ 9.16291350e-01 -4.00298287e-01 -1.30936522e-02  1.50228538e+02]
 [ 4.00254491e-01  9.16384879e-01 -5.92425260e-03  3.04982827e+01]
 [ 1.43702931e-02  1.87548297e-04  9.99896724e-01  4.76142128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.42650248099997
Centerline is valid?  [True, True]
Translation: X:150.28, Y:30.53, Z:4.76
[[ 9.15728876e-01 -4.01583371e-01 -1.30928161e-02  1.50279950e+02]
 [ 4.01539679e-01  9.15822454e-01 -5.92609995e-03  3.05252576e+01]
 [ 1.43705182e-02  1.69415679e-04  9.99896724e-01  4.76225347e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.48650248099997
Centerline is valid?  [True, True]
Translation: X:150.33, Y:30.55, Z:4.76
[[ 9.17422527e-01 -3.97699019e-01 -1.30918340e-02  1.50331317e+02]
 [ 3.97654900e-01  9.17515905e-01 -5.92826874e-03  3.05544327e+01]
 [ 1.43696326e-02  2.32695337e-04  9.99896724e-01  4.76309796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.54650248099998
Centerline is valid?  [True, True]
Translation: X:150.38, Y:30.58, Z:4.76
[[ 9.17051923e-01 -3.98552869e-01 -1.30912926e-02  1.50384245e+02]
 [ 3.98508820e-01  9.17145333e-01 -5.92946399e-03  3.05801214e+01]
 [ 1.43698228e-02  2.20630773e-04  9.99896724e-01  4.76394271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.60650248099998
Centerline is valid?  [True, True]
Translation: X:150.44, Y:30.61, Z:4.76
[[ 9.16525762e-01 -3.99761426e-01 -1.30893428e-02  1.50436840e+02]
 [ 3.99717438e-01  9.16619201e-01 -5.93376524e-03  3.06060589e+01]
 [ 1.43700334e-02  2.06410140e-04  9.99896724e-01  4.76478313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.66650248099998
Centerline is valid?  [True, True]
Translation: X:150.49, Y:30.63, Z:4.77
[[ 9.18215714e-01 -3.95864399e-01 -1.30874231e-02  1.50489782e+02]
 [ 3.95819955e-01  9.18308937e-01 -5.93799631e-03  3.06321362e+01]
 [ 1.43689389e-02  2.72098317e-04  9.99896724e-01  4.76562897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.72650248099998
Centerline is valid?  [True, True]
Translation: X:150.54, Y:30.66, Z:4.77
[[ 9.18858828e-01 -3.94369395e-01 -1.30856431e-02  1.50542358e+02]
 [ 3.94324743e-01  9.18951952e-01 -5.94191620e-03  3.06561834e+01]
 [ 1.43683872e-02  2.99789294e-04  9.99896724e-01  4.76645812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.78650248099996
Centerline is valid?  [True, True]
Translation: X:150.60, Y:30.68, Z:4.77
[[ 9.21038977e-01 -3.89250543e-01 -1.30849831e-02  1.50596358e+02]
 [ 3.89205353e-01  9.21131842e-01 -5.94336932e-03  3.06806183e+01]
 [ 1.43664543e-02  3.81329328e-04  9.99896724e-01  4.76730934e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.84650248099996
Centerline is valid?  [True, True]
Translation: X:150.65, Y:30.70, Z:4.77
[[ 9.21991536e-01 -3.86988941e-01 -1.30831179e-02  1.50649856e+02]
 [ 3.86943465e-01  9.22084260e-01 -5.94747231e-03  3.07046873e+01]
 [ 1.43653431e-02  4.21092154e-04  9.99896724e-01  4.76815059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.90650248099996
Centerline is valid?  [True, True]
Translation: X:150.71, Y:30.73, Z:4.77
[[ 9.23279832e-01 -3.83905240e-01 -1.30812429e-02  1.50705839e+02]
 [ 3.83859396e-01  9.23372375e-01 -5.95159354e-03  3.07253596e+01]
 [ 1.43637062e-02  4.73628292e-04  9.99896724e-01  4.76900413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.96650248099996
Centerline is valid?  [True, True]
Translation: X:150.76, Y:30.75, Z:4.77
[[ 9.24501403e-01 -3.80954169e-01 -1.30796505e-02  1.50759663e+02]
 [ 3.80907980e-01  9.24593774e-01 -5.95509095e-03  3.07488755e+01]
 [ 1.43619802e-02  5.23346677e-04  9.99896724e-01  4.76984662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 156.02650248099997
Centerline is valid?  [True, True]
Translation: X:150.82, Y:30.77, Z:4.77
[[ 9.25862291e-01 -3.77634679e-01 -1.30792616e-02  1.50815731e+02]
 [ 3.77588148e-01  9.25954490e-01 -5.95594501e-03  3.07704225e+01]
 [ 1.43599724e-02  5.75810730e-04  9.99896724e-01  4.77070796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.08650248099997
Centerline is valid?  [True, True]
Translation: X:150.87, Y:30.79, Z:4.77
[[ 9.25370960e-01 -3.78837115e-01 -1.30777300e-02  1.50871433e+02]
 [ 3.78790655e-01  9.25463195e-01 -5.95930620e-03  3.07894544e+01]
 [ 1.43605641e-02  5.60846993e-04  9.99896724e-01  4.77154833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.14650248099997
Centerline is valid?  [True, True]
Translation: X:150.93, Y:30.81, Z:4.77
[[ 9.24758228e-01 -3.80330440e-01 -1.30757621e-02  1.50925291e+02]
 [ 3.80284068e-01  9.24850508e-01 -5.96362101e-03  3.08123749e+01]
 [ 1.43612718e-02  5.42403608e-04  9.99896725e-01  4.77238726e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.20650248099997
Centerline is valid?  [True, True]
Translation: X:150.98, Y:30.83, Z:4.77
[[ 9.21758203e-01 -3.87544647e-01 -1.30752445e-02  1.50982075e+02]
 [ 3.87498982e-01  9.21850834e-01 -5.96475559e-03  3.08316910e+01]
 [ 1.43650341e-02  4.31418464e-04  9.99896725e-01  4.77324447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.26650248099997
Centerline is valid?  [True, True]
Translation: X:151.04, Y:30.85, Z:4.77
[[ 9.18221490e-01 -3.95851461e-01 -1.30734714e-02  1.51037797e+02]
 [ 3.95806579e-01  9.18314503e-01 -5.96863926e-03  3.08520903e+01]
 [ 1.43682530e-02  3.05966838e-04  9.99896725e-01  4.77409289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.32650248099998
Centerline is valid?  [True, True]
Translation: X:151.09, Y:30.87, Z:4.77
[[ 9.16218714e-01 -4.00465187e-01 -1.30729328e-02  1.51091961e+02]
 [ 4.00420756e-01  9.16311944e-01 -5.96981873e-03  3.08736800e+01]
 [ 1.43695890e-02  2.34986003e-04  9.99896725e-01  4.77492937e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.38650248099998
Centerline is valid?  [True, True]
Translation: X:151.15, Y:30.90, Z:4.78
[[ 9.13924582e-01 -4.05673481e-01 -1.30722697e-02  1.51146199e+02]
 [ 4.05629562e-01  9.14018054e-01 -5.97127043e-03  3.08959727e+01]
 [ 1.43706765e-02  1.54791820e-04  9.99896725e-01  4.77577086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.44650248099998
Centerline is valid?  [True, True]
Translation: X:151.20, Y:30.92, Z:4.78
[[ 9.14552860e-01 -4.04255145e-01 -1.30707335e-02  1.51199655e+02]
 [ 4.04211032e-01  9.14646240e-01 -5.97463114e-03  3.09225432e+01]
 [ 1.43703726e-02  1.80781316e-04  9.99896725e-01  4.77662671e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.50650248099998
Centerline is valid?  [True, True]
Translation: X:151.25, Y:30.95, Z:4.78
[[ 9.18245529e-01 -3.95795843e-01 -1.30690442e-02  1.51251233e+02]
 [ 3.95750818e-01  9.18338472e-01 -5.97832413e-03  3.09481449e+01]
 [ 1.43680019e-02  3.17484483e-04  9.99896725e-01  4.77745208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.56650248099996
Centerline is valid?  [True, True]
Translation: X:151.30, Y:30.97, Z:4.78
[[ 9.19460851e-01 -3.92964323e-01 -1.30684082e-02  1.51304591e+02]
 [ 3.92918992e-01  9.19553646e-01 -5.97971408e-03  3.09736010e+01]
 [ 1.43669167e-02  3.63287235e-04  9.99896725e-01  4.77830101e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.62650248099996
Centerline is valid?  [True, True]
Translation: X:151.36, Y:31.00, Z:4.78
[[ 9.20359518e-01 -3.90854988e-01 -1.30666010e-02  1.51356878e+02]
 [ 3.90809388e-01  9.20452181e-01 -5.98366052e-03  3.10007371e+01]
 [ 1.43659249e-02  4.00568590e-04  9.99896725e-01  4.77914472e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.68650248099996
Centerline is valid?  [True, True]
Translation: X:151.41, Y:31.02, Z:4.78
[[ 9.21073236e-01 -3.89170154e-01 -1.30646432e-02  1.51410503e+02]
 [ 3.89124324e-01  9.21165786e-01 -5.98793194e-03  3.10228779e+01]
 [ 1.43650267e-02  4.31553383e-04  9.99896725e-01  4.77997586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.74650248099996
Centerline is valid?  [True, True]
Translation: X:151.47, Y:31.04, Z:4.78
[[ 9.19884359e-01 -3.91972064e-01 -1.30639603e-02  1.51465388e+02]
 [ 3.91926495e-01  9.19977037e-01 -5.98942160e-03  3.10448882e+01]
 [ 1.43662294e-02  3.89463083e-04  9.99896725e-01  4.78082405e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.80650248099997
Centerline is valid?  [True, True]
Translation: X:151.52, Y:31.07, Z:4.78
[[ 9.18784904e-01 -3.94542373e-01 -1.30620117e-02  1.51519870e+02]
 [ 3.94497003e-01  9.18877680e-01 -5.99366817e-03  3.10687244e+01]
 [ 1.43671470e-02  3.53967381e-04  9.99896725e-01  4.78167652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.86650248099997
Centerline is valid?  [True, True]
Translation: X:151.58, Y:31.09, Z:4.78
[[ 9.18193207e-01 -3.95917464e-01 -1.30612800e-02  1.51575104e+02]
 [ 3.95872210e-01  9.18286039e-01 -5.99526227e-03  3.10920916e+01]
 [ 1.43676201e-02  3.34211323e-04  9.99896725e-01  4.78253733e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.92650248099997
Centerline is valid?  [True, True]
Translation: X:151.63, Y:31.12, Z:4.78
[[ 9.18458902e-01 -3.95300762e-01 -1.30596231e-02  1.51628123e+02]
 [ 3.95255394e-01  9.18551679e-01 -5.99886922e-03  3.11151086e+01]
 [ 1.43672963e-02  3.47828340e-04  9.99896725e-01  4.78336609e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.98650248099997
Centerline is valid?  [True, True]
Translation: X:151.68, Y:31.13, Z:4.78
[[ 9.13456667e-01 -4.06726420e-01 -1.30589464e-02  1.51684462e+02]
 [ 4.06682193e-01  9.13549993e-01 -6.00034193e-03  3.11331712e+01]
 [ 1.43704980e-02  1.70211365e-04  9.99896725e-01  4.78420954e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.04650248099998
Centerline is valid?  [True, True]
Translation: X:151.74, Y:31.16, Z:4.79
[[ 9.12940646e-01 -4.07883383e-01 -1.30584177e-02  1.51738573e+02]
 [ 4.07839257e-01  9.13034020e-01 -6.00149244e-03  3.11569180e+01]
 [ 1.43706886e-02  1.53271013e-04  9.99896725e-01  4.78505815e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.10650248099998
Centerline is valid?  [True, True]
Translation: X:151.79, Y:31.18, Z:4.79
[[ 9.13343982e-01 -4.06979481e-01 -1.30565048e-02  1.51791124e+02]
 [ 4.06935203e-01  9.13437285e-01 -6.00565114e-03  3.11814430e+01]
 [ 1.43704751e-02  1.72073897e-04  9.99896725e-01  4.78588952e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.16650248099998
Centerline is valid?  [True, True]
Translation: X:151.84, Y:31.21, Z:4.79
[[ 9.15426049e-01 -4.02274401e-01 -1.30558637e-02  1.51844099e+02]
 [ 4.02229624e-01  9.15519112e-01 -6.00704442e-03  3.12060273e+01]
 [ 1.43693730e-02  2.47549767e-04  9.99896725e-01  4.78672820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 157.22650248099998
Centerline is valid?  [True, True]
Translation: X:151.90, Y:31.23, Z:4.79
[[ 9.17126221e-01 -3.98383049e-01 -1.30552782e-02  1.51897731e+02]
 [ 3.98337859e-01  9.17219085e-01 -6.00831667e-03  3.12301226e+01]
 [ 1.43681619e-02  3.09973177e-04  9.99896725e-01  4.78757259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.28650248099996
Centerline is valid?  [True, True]
Translation: X:151.95, Y:31.25, Z:4.79
[[ 9.20228454e-01 -3.91163902e-01 -1.30535092e-02  1.51950807e+02]
 [ 3.91117929e-01  9.20320933e-01 -6.01215758e-03  3.12546479e+01]
 [ 1.43651568e-02  4.27096995e-04  9.99896725e-01  4.78841097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.34650248099996
Centerline is valid?  [True, True]
Translation: X:152.01, Y:31.28, Z:4.79
[[ 9.20918130e-01 -3.89537455e-01 -1.30525515e-02  1.52005098e+02]
 [ 3.89491290e-01  9.21010512e-01 -6.01423611e-03  3.12781191e+01]
 [ 1.43643073e-02  4.54763960e-04  9.99896725e-01  4.78925979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.40650248099996
Centerline is valid?  [True, True]
Translation: X:152.06, Y:31.30, Z:4.79
[[ 9.22125763e-01 -3.86670090e-01 -1.30506323e-02  1.52059149e+02]
 [ 3.86623579e-01  9.22217972e-01 -6.01839777e-03  3.12999655e+01]
 [ 1.43626620e-02  5.04037481e-04  9.99896725e-01  4.79009460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.46650248099996
Centerline is valid?  [True, True]
Translation: X:152.11, Y:31.32, Z:4.79
[[ 9.21909884e-01 -3.87184531e-01 -1.30500963e-02  1.52113557e+02]
 [ 3.87138055e-01  9.22002110e-01 -6.01955975e-03  3.13240489e+01]
 [ 1.43628967e-02  4.97302736e-04  9.99896725e-01  4.79094907e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.52650248099997
Centerline is valid?  [True, True]
Translation: X:152.17, Y:31.35, Z:4.79
[[ 9.21821437e-01 -3.87395121e-01 -1.30483223e-02  1.52166541e+02]
 [ 3.87348611e-01  9.21913647e-01 -6.02340280e-03  3.13469133e+01]
 [ 1.43628632e-02  4.98252319e-04  9.99896725e-01  4.79177623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.58650248099997
Centerline is valid?  [True, True]
Translation: X:152.22, Y:31.37, Z:4.79
[[ 9.20231813e-01 -3.91156196e-01 -1.30476543e-02  1.52221805e+02]
 [ 3.91110042e-01  9.20324202e-01 -6.02484932e-03  3.13687235e+01]
 [ 1.43647292e-02  4.41189378e-04  9.99896725e-01  4.79262802e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.64650248099997
Centerline is valid?  [True, True]
Translation: X:152.28, Y:31.39, Z:4.79
[[ 9.17383279e-01 -3.97791056e-01 -1.30458673e-02  1.52276555e+02]
 [ 3.97745516e-01  9.17475972e-01 -6.02871635e-03  3.13904402e+01]
 [ 1.43674392e-02  3.41708348e-04  9.99896725e-01  4.79347126e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.70650248099997
Centerline is valid?  [True, True]
Translation: X:152.33, Y:31.41, Z:4.79
[[ 9.14665406e-01 -4.04001257e-01 -1.30453207e-02  1.52330744e+02]
 [ 4.03956330e-01  9.14758397e-01 -6.02989878e-03  3.14124859e+01]
 [ 1.43694034e-02  2.45599927e-04  9.99896725e-01  4.79431057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.76650248099997
Centerline is valid?  [True, True]
Translation: X:152.39, Y:31.43, Z:4.80
[[ 9.11009814e-01 -4.12178334e-01 -1.30437769e-02  1.52385369e+02]
 [ 4.12134193e-01  9.11103181e-01 -6.03323662e-03  3.14345642e+01]
 [ 1.43709960e-02  1.20551311e-04  9.99896725e-01  4.79515458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.82650248099998
Centerline is valid?  [True, True]
Translation: X:152.44, Y:31.46, Z:4.80
[[ 9.15683078e-01 -4.01689425e-01 -1.30425071e-02  1.52440649e+02]
 [ 4.01644176e-01  9.15775913e-01 -6.03598035e-03  3.14564686e+01]
 [ 1.43686033e-02  2.88598048e-04  9.99896725e-01  4.79600640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.88650248099998
Centerline is valid?  [True, True]
Translation: X:152.49, Y:31.48, Z:4.80
[[ 9.07326127e-01 -4.20225224e-01 -1.30407200e-02  1.52493140e+02]
 [ 4.20181817e-01  9.07419837e-01 -6.03983888e-03  3.14823532e+01]
 [ 1.43715007e-02  6.30200324e-07  9.99896725e-01  4.79684525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.94650248099998
Centerline is valid?  [True, True]
Translation: X:152.55, Y:31.51, Z:4.80
[[ 9.06474329e-01 -4.22059531e-01 -1.30400851e-02  1.52545082e+02]
 [ 4.22016294e-01  9.06568117e-01 -6.04120939e-03  3.15089105e+01]
 [ 1.43714754e-02 -2.69271504e-05  9.99896725e-01  4.79768237e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.00650248099998
Centerline is valid?  [True, True]
Translation: X:152.60, Y:31.53, Z:4.80
[[ 9.07202638e-01 -4.20491841e-01 -1.30378794e-02  1.52598574e+02]
 [ 4.20448373e-01  9.07296320e-01 -6.04596574e-03  3.15341387e+01]
 [ 1.43714993e-02  3.16086481e-06  9.99896725e-01  4.79852984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.06650248099996
Centerline is valid?  [True, True]
Translation: X:152.65, Y:31.56, Z:4.80
[[ 9.09027010e-01 -4.16533258e-01 -1.30360901e-02  1.52650402e+02]
 [ 4.16489327e-01  9.09120476e-01 -6.04982151e-03  3.15628006e+01]
 [ 1.43713283e-02  7.00587912e-05  9.99896725e-01  4.79937688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.12650248099996
Centerline is valid?  [True, True]
Translation: X:152.70, Y:31.59, Z:4.80
[[ 9.10657264e-01 -4.12956968e-01 -1.30342049e-02  1.52702580e+02]
 [ 4.12912612e-01  9.10750529e-01 -6.05388023e-03  3.15877010e+01]
 [ 1.43709011e-02  1.31022404e-04  9.99896725e-01  4.80020564e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.18650248099996
Centerline is valid?  [True, True]
Translation: X:152.75, Y:31.61, Z:4.80
[[ 9.13484696e-01 -4.06664280e-01 -1.30335477e-02  1.52754469e+02]
 [ 4.06619261e-01  9.13577643e-01 -6.05529495e-03  3.16145053e+01]
 [ 1.43696299e-02  2.31727745e-04  9.99896725e-01  4.80104357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.24650248099996
Centerline is valid?  [True, True]
Translation: X:152.81, Y:31.64, Z:4.80
[[ 9.15700974e-01 -4.01648939e-01 -1.30328685e-02  1.52807924e+02]
 [ 4.01603390e-01  9.15793663e-01 -6.05675639e-03  3.16385893e+01]
 [ 1.43681081e-02  3.12133558e-04  9.99896725e-01  4.80188543e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.30650248099997
Centerline is valid?  [True, True]
Translation: X:152.86, Y:31.66, Z:4.80
[[ 9.16051182e-01 -4.00849630e-01 -1.30309346e-02  1.52861197e+02]
 [ 4.00803942e-01  9.16143802e-01 -6.06091417e-03  3.16637229e+01]
 [ 1.43677252e-02  3.29257625e-04  9.99896725e-01  4.80272984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.36650248099997
Centerline is valid?  [True, True]
Translation: X:152.92, Y:31.69, Z:4.80
[[ 9.16715504e-01 -3.99328057e-01 -1.30302402e-02  1.52915110e+02]
 [ 3.99282194e-01  9.16808037e-01 -6.06240678e-03  3.16874135e+01]
 [ 1.43671181e-02  3.54759396e-04  9.99896725e-01  4.80357524e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 158.42650248099997
Centerline is valid?  [True, True]
Translation: X:152.97, Y:31.71, Z:4.80
[[ 9.16606237e-01 -3.99578865e-01 -1.30283223e-02  1.52969398e+02]
 [ 3.99532968e-01  9.16698753e-01 -6.06652550e-03  3.17102087e+01]
 [ 1.43671022e-02  3.55370812e-04  9.99896725e-01  4.80441870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.48650248099997
Centerline is valid?  [True, True]
Translation: X:153.02, Y:31.73, Z:4.81
[[ 9.17904095e-01 -3.96588400e-01 -1.30274298e-02  1.53024082e+02]
 [ 3.96542175e-01  9.17996448e-01 -6.06844154e-03  3.17339330e+01]
 [ 1.43658078e-02  4.04321986e-04  9.99896725e-01  4.80527413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.54650248099998
Centerline is valid?  [True, True]
Translation: X:153.08, Y:31.76, Z:4.81
[[ 9.15580230e-01 -4.01924341e-01 -1.30255932e-02  1.53076855e+02]
 [ 4.01878598e-01  9.15672823e-01 -6.07238122e-03  3.17587938e+01]
 [ 1.43678195e-02  3.25045069e-04  9.99896725e-01  4.80611044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.60650248099998
Centerline is valid?  [True, True]
Translation: X:153.13, Y:31.78, Z:4.81
[[ 9.15733454e-01 -4.01575141e-01 -1.30249038e-02  1.53131380e+02]
 [ 4.01529342e-01  9.15826018e-01 -6.07385950e-03  3.17822544e+01]
 [ 1.43676568e-02  3.32155280e-04  9.99896725e-01  4.80696242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.66650248099998
Centerline is valid?  [True, True]
Translation: X:153.18, Y:31.81, Z:4.81
[[ 9.15604278e-01 -4.01869635e-01 -1.30231162e-02  1.53184998e+02]
 [ 4.01823812e-01  9.15696831e-01 -6.07769005e-03  3.18071175e+01]
 [ 1.43676653e-02  3.31760837e-04  9.99896725e-01  4.80780981e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.72650248099998
Centerline is valid?  [True, True]
Translation: X:153.24, Y:31.83, Z:4.81
[[ 9.15210520e-01 -4.02765582e-01 -1.30226917e-02  1.53237994e+02]
 [ 4.02719836e-01  9.15303111e-01 -6.07859939e-03  3.18319858e+01]
 [ 1.43679608e-02  3.18701834e-04  9.99896725e-01  4.80865072e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.78650248099996
Centerline is valid?  [True, True]
Translation: X:153.29, Y:31.86, Z:4.81
[[ 9.14613198e-01 -4.04120227e-01 -1.30207475e-02  1.53291304e+02]
 [ 4.04074558e-01  9.14705828e-01 -6.08276116e-03  3.18569600e+01]
 [ 1.43683204e-02  3.02020845e-04  9.99896725e-01  4.80949460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.84650248099996
Centerline is valid?  [True, True]
Translation: X:153.34, Y:31.88, Z:4.81
[[ 9.13909523e-01 -4.05709123e-01 -1.30188770e-02  1.53342824e+02]
 [ 4.05663559e-01  9.14002204e-01 -6.08676186e-03  3.18810622e+01]
 [ 1.43687371e-02  2.81465633e-04  9.99896725e-01  4.81030995e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.90650248099996
Centerline is valid?  [True, True]
Translation: X:153.40, Y:31.91, Z:4.81
[[ 9.12121056e-01 -4.09714183e-01 -1.30179595e-02  1.53397185e+02]
 [ 4.09668998e-01  9.12213922e-01 -6.08872368e-03  3.19054919e+01]
 [ 1.43698003e-02  2.20598669e-04  9.99896725e-01  4.81116540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.96650248099996
Centerline is valid?  [True, True]
Translation: X:153.45, Y:31.93, Z:4.81
[[ 9.11272523e-01 -4.11598067e-01 -1.30161692e-02  1.53450978e+02]
 [ 4.11553020e-01  9.11365455e-01 -6.09254838e-03  3.19306665e+01]
 [ 1.43701681e-02  1.95128187e-04  9.99896725e-01  4.81201696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.02650248099997
Centerline is valid?  [True, True]
Translation: X:153.50, Y:31.96, Z:4.81
[[ 9.09734490e-01 -4.14986490e-01 -1.30142758e-02  1.53502853e+02]
 [ 4.14941730e-01  9.09827562e-01 -6.09659017e-03  3.19594114e+01]
 [ 1.43707494e-02  1.46112227e-04  9.99896725e-01  4.81286522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.08650248099997
Centerline is valid?  [True, True]
Translation: X:153.56, Y:31.98, Z:4.81
[[ 9.09373293e-01 -4.15777460e-01 -1.30122035e-02  1.53555378e+02]
 [ 4.15732718e-01  9.09466374e-01 -6.10101003e-03  3.19844716e+01]
 [ 1.43708240e-02  1.38496857e-04  9.99896725e-01  4.81369927e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.14650248099997
Centerline is valid?  [True, True]
Translation: X:153.61, Y:32.01, Z:4.81
[[ 9.09491662e-01 -4.15518493e-01 -1.30114787e-02  1.53607296e+02]
 [ 4.15473702e-01  9.09584719e-01 -6.10255543e-03  3.20095547e+01]
 [ 1.43707668e-02  1.44296063e-04  9.99896725e-01  4.81452712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.20650248099997
Centerline is valid?  [True, True]
Translation: X:153.66, Y:32.04, Z:4.82
[[ 9.09020161e-01 -4.16548997e-01 -1.30107745e-02  1.53659616e+02]
 [ 4.16504291e-01  9.09113258e-01 -6.10405633e-03  3.20381964e+01]
 [ 1.43709062e-02  1.29666845e-04  9.99896725e-01  4.81538196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.26650248099997
Centerline is valid?  [True, True]
Translation: X:153.71, Y:32.07, Z:4.82
[[ 9.09921417e-01 -4.14576632e-01 -1.30088735e-02  1.53710592e+02]
 [ 4.14531666e-01  9.10014389e-01 -6.10810498e-03  3.20665904e+01]
 [ 1.43705397e-02  1.65305506e-04  9.99896725e-01  4.81621645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.32650248099998
Centerline is valid?  [True, True]
Translation: X:153.76, Y:32.09, Z:4.82
[[ 9.10039137e-01 -4.14318191e-01 -1.30078943e-02  1.53761009e+02]
 [ 4.14273168e-01  9.10132082e-01 -6.11018963e-03  3.20937252e+01]
 [ 1.43704647e-02  1.71690105e-04  9.99896725e-01  4.81703704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.38650248099998
Centerline is valid?  [True, True]
Translation: X:153.81, Y:32.12, Z:4.82
[[ 9.09179118e-01 -4.16202056e-01 -1.30069152e-02  1.53813258e+02]
 [ 4.16157196e-01  9.09272142e-01 -6.11227314e-03  3.21205741e+01]
 [ 1.43707663e-02  1.44229730e-04  9.99896725e-01  4.81787974e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.44650248099998
Centerline is valid?  [True, True]
Translation: X:153.87, Y:32.15, Z:4.82
[[ 9.09604668e-01 -4.15271241e-01 -1.30055590e-02  1.53866556e+02]
 [ 4.15226245e-01  9.09697626e-01 -6.11515751e-03  3.21460943e+01]
 [ 1.43705752e-02  1.62126382e-04  9.99896725e-01  4.81872755e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.50650248099998
Centerline is valid?  [True, True]
Translation: X:153.92, Y:32.17, Z:4.82
[[ 9.09882655e-01 -4.14661827e-01 -1.30047290e-02  1.53919557e+02]
 [ 4.14616744e-01  9.09975570e-01 -6.11692218e-03  3.21723016e+01]
 [ 1.43704398e-02  1.73703009e-04  9.99896725e-01  4.81957628e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.56650248099996
Centerline is valid?  [True, True]
Translation: X:153.97, Y:32.20, Z:4.82
[[ 9.11936122e-01 -4.10126113e-01 -1.30031083e-02  1.53973346e+02]
 [ 4.10080518e-01  9.12028788e-01 -6.12036534e-03  3.21970101e+01]
 [ 1.43693308e-02  2.49060831e-04  9.99896725e-01  4.82042520e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 159.62650248099996
Centerline is valid?  [True, True]
Translation: X:154.02, Y:32.22, Z:4.82
[[ 9.12209960e-01 -4.09516738e-01 -1.30011744e-02  1.54024354e+02]
 [ 4.09471024e-01  9.12302566e-01 -6.12447074e-03  3.22244828e+01]
 [ 1.43690780e-02  2.63199017e-04  9.99896725e-01  4.82125455e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.68650248099996
Centerline is valid?  [True, True]
Translation: X:154.08, Y:32.25, Z:4.82
[[ 9.12814687e-01 -4.08167041e-01 -1.30005002e-02  1.54076292e+02]
 [ 4.08121169e-01  9.12907216e-01 -6.12590159e-03  3.22518390e+01]
 [ 1.43686415e-02  2.86033608e-04  9.99896725e-01  4.82209670e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.74650248099996
Centerline is valid?  [True, True]
Translation: X:154.13, Y:32.27, Z:4.82
[[ 9.15023676e-01 -4.03190659e-01 -1.29986612e-02  1.54132219e+02]
 [ 4.03144229e-01  9.15115925e-01 -6.12980128e-03  3.22720719e+01]
 [ 1.43667605e-02  3.68578051e-04  9.99896725e-01  4.82294575e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.80650248099997
Centerline is valid?  [True, True]
Translation: X:154.19, Y:32.29, Z:4.82
[[ 9.17172210e-01 -3.98279071e-01 -1.29968929e-02  1.54187182e+02]
 [ 3.98232093e-01  9.17264182e-01 -6.13354821e-03  3.22926438e+01]
 [ 1.43644482e-02  4.49740092e-04  9.99896725e-01  4.82378440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.86650248099997
Centerline is valid?  [True, True]
Translation: X:154.24, Y:32.33, Z:4.82
[[ 9.12430362e-01 -4.09025599e-01 -1.29959286e-02  1.54235826e+02]
 [ 4.08979676e-01  9.12522865e-01 -6.13559074e-03  3.23267769e+01]
 [ 1.43686957e-02  2.83228602e-04  9.99896725e-01  4.82462500e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.92650248099997
Centerline is valid?  [True, True]
Translation: X:154.29, Y:32.35, Z:4.83
[[ 9.12247087e-01 -4.09434208e-01 -1.29954178e-02  1.54291978e+02]
 [ 4.09388311e-01  9.12339603e-01 -6.13667256e-03  3.23475435e+01]
 [ 1.43687980e-02  2.77989530e-04  9.99896725e-01  4.82548168e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.98650248099997
Centerline is valid?  [True, True]
Translation: X:154.34, Y:32.37, Z:4.83
[[ 9.07354577e-01 -4.20165244e-01 -1.29938520e-02  1.54344151e+02]
 [ 4.20120394e-01  9.07447605e-01 -6.13998602e-03  3.23744460e+01]
 [ 1.43710486e-02  1.12162178e-04  9.99896725e-01  4.82632314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.04650248099998
Centerline is valid?  [True, True]
Translation: X:154.40, Y:32.40, Z:4.83
[[ 9.04012641e-01 -4.27308223e-01 -1.29933218e-02  1.54398517e+02]
 [ 4.27264092e-01  9.04106013e-01 -6.14110797e-03  3.23983611e+01]
 [ 1.43714863e-02  5.94031360e-08  9.99896725e-01  4.82717589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.10650248099998
Centerline is valid?  [True, True]
Translation: X:154.45, Y:32.42, Z:4.83
[[ 9.01994603e-01 -4.31551799e-01 -1.29915543e-02  1.54451630e+02]
 [ 4.31508053e-01  9.02088156e-01 -6.14484476e-03  3.24241925e+01]
 [ 1.43713461e-02 -6.33435077e-05  9.99896725e-01  4.82802277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.16650248099998
Centerline is valid?  [True, True]
Translation: X:154.50, Y:32.45, Z:4.83
[[ 9.00205577e-01 -4.35271400e-01 -1.29895234e-02  1.54504439e+02]
 [ 4.35227979e-01  9.00299281e-01 -6.14913500e-03  3.24512599e+01]
 [ 1.43710011e-02 -1.17918369e-04  9.99896725e-01  4.82887300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.22650248099998
Centerline is valid?  [True, True]
Translation: X:154.56, Y:32.48, Z:4.83
[[ 9.00744207e-01 -4.34155731e-01 -1.29875151e-02  1.54556917e+02]
 [ 4.34112133e-01  9.00837828e-01 -6.15337364e-03  3.24755462e+01]
 [ 1.43711673e-02 -9.54222330e-05  9.99896725e-01  4.82970186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.28650248099996
Centerline is valid?  [True, True]
Translation: X:154.61, Y:32.50, Z:4.83
[[ 9.01880440e-01 -4.31790475e-01 -1.29868579e-02  1.54607666e+02]
 [ 4.31746611e-01  9.01973937e-01 -6.15476050e-03  3.25034906e+01]
 [ 1.43713743e-02 -5.61737569e-05  9.99896725e-01  4.83053228e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.34650248099996
Centerline is valid?  [True, True]
Translation: X:154.66, Y:32.53, Z:4.83
[[ 9.04531363e-01 -4.26209308e-01 -1.29861538e-02  1.54660870e+02]
 [ 4.26164846e-01  9.04624577e-01 -6.15624558e-03  3.25293235e+01]
 [ 1.43714431e-02  3.42749596e-05  9.99896725e-01  4.83138154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.40650248099996
Centerline is valid?  [True, True]
Translation: X:154.71, Y:32.56, Z:4.83
[[ 9.06044761e-01 -4.22982624e-01 -1.29842448e-02  1.54709311e+02]
 [ 4.22937773e-01  9.06137788e-01 -6.16026928e-03  3.25632041e+01]
 [ 1.43712018e-02  8.99521196e-05  9.99896725e-01  4.83221721e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.46650248099996
Centerline is valid?  [True, True]
Translation: X:154.76, Y:32.59, Z:4.83
[[ 9.04668335e-01 -4.25918582e-01 -1.29832319e-02  1.54761757e+02]
 [ 4.25874002e-01  9.04761493e-01 -6.16240332e-03  3.25911330e+01]
 [ 1.43714104e-02  4.57102178e-05  9.99896725e-01  4.83306923e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.52650248099997
Centerline is valid?  [True, True]
Translation: X:154.82, Y:32.61, Z:4.83
[[ 9.05172965e-01 -4.24845129e-01 -1.29815196e-02  1.54817933e+02]
 [ 4.24800386e-01  9.05266045e-01 -6.16600833e-03  3.26095203e+01]
 [ 1.43713275e-02  6.67494990e-05  9.99896725e-01  4.83391012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.58650248099997
Centerline is valid?  [True, True]
Translation: X:154.87, Y:32.64, Z:4.83
[[ 9.02665835e-01 -4.30146391e-01 -1.29796811e-02  1.54869506e+02]
 [ 4.30102140e-01  9.02759150e-01 -6.16987595e-03  3.26388808e+01]
 [ 1.43714758e-02 -1.32523993e-05  9.99896725e-01  4.83475876e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.64650248099997
Centerline is valid?  [True, True]
Translation: X:154.92, Y:32.67, Z:4.84
[[ 9.00946594e-01 -4.33735878e-01 -1.29777913e-02  1.54920348e+02]
 [ 4.33691941e-01  9.01040057e-01 -6.17384849e-03  3.26682648e+01]
 [ 1.43713294e-02 -6.60557220e-05  9.99896725e-01  4.83559804e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.70650248099997
Centerline is valid?  [True, True]
Translation: X:154.97, Y:32.69, Z:4.84
[[ 9.00504452e-01 -4.34653152e-01 -1.29757581e-02  1.54972082e+02]
 [ 4.34609249e-01  9.00597930e-01 -6.17811880e-03  3.26942115e+01]
 [ 1.43712797e-02 -7.59609890e-05  9.99896725e-01  4.83642754e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.76650248099997
Centerline is valid?  [True, True]
Translation: X:155.02, Y:32.73, Z:4.84
[[ 9.02183806e-01 -4.31156618e-01 -1.29750461e-02  1.55021319e+02]
 [ 4.31112331e-01  9.02277103e-01 -6.17961375e-03  3.27278514e+01]
 [ 1.43714684e-02 -1.85549058e-05  9.99896725e-01  4.83727362e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 160.82650248099998
Centerline is valid?  [True, True]
Translation: X:155.07, Y:32.76, Z:4.84
[[ 9.02297724e-01 -4.30918226e-01 -1.29730285e-02  1.55073136e+02]
 [ 4.30873853e-01  9.02390981e-01 -6.18384642e-03  3.27561924e+01]
 [ 1.43714760e-02 -1.00682285e-05  9.99896725e-01  4.83811908e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.88650248099998
Centerline is valid?  [True, True]
Translation: X:155.12, Y:32.79, Z:4.84
[[ 9.05255801e-01 -4.24668906e-01 -1.29712808e-02  1.55123767e+02]
 [ 4.24623838e-01  9.05348724e-01 -6.18751035e-03  3.27860457e+01]
 [ 1.43711757e-02  9.33646330e-05  9.99896725e-01  4.83895882e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.94650248099998
Centerline is valid?  [True, True]
Translation: X:155.17, Y:32.82, Z:4.84
[[ 9.08453511e-01 -4.17784656e-01 -1.29692007e-02  1.55173611e+02]
 [ 4.17738821e-01  9.08546057e-01 -6.19186715e-03  3.28171956e+01]
 [ 1.43699832e-02  2.07284846e-04  9.99896725e-01  4.83979610e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.00650248099996
Centerline is valid?  [True, True]
Translation: X:155.21, Y:32.87, Z:4.84
[[ 9.06962114e-01 -4.21012524e-01 -1.29683562e-02  1.55214539e+02]
 [ 4.20966993e-01  9.07054811e-01 -6.19363531e-03  3.28692938e+01]
 [ 1.43706079e-02  1.58142652e-04  9.99896725e-01  4.84064878e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.06650248099996
Centerline is valid?  [True, True]
Translation: X:155.27, Y:32.90, Z:4.84
[[ 9.09001027e-01 -4.16592131e-01 -1.29665090e-02  1.55266539e+02]
 [ 4.16546094e-01  9.09093473e-01 -6.19750005e-03  3.28984930e+01]
 [ 1.43695985e-02  2.32385218e-04  9.99896725e-01  4.84150236e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.12650248099996
Centerline is valid?  [True, True]
Translation: X:155.33, Y:32.90, Z:4.84
[[ 9.17675151e-01 -3.97119919e-01 -1.29648807e-02  1.55330473e+02]
 [ 3.97071874e-01  9.17766569e-01 -6.20090462e-03  3.29009442e+01]
 [ 1.43612368e-02  5.42426615e-04  9.99896725e-01  4.84234503e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.18650248099996
Centerline is valid?  [True, True]
Translation: X:155.38, Y:32.93, Z:4.84
[[ 9.14519264e-01 -4.04334568e-01 -1.29643315e-02  1.55382201e+02]
 [ 4.04287228e-01  9.14611050e-01 -6.20205260e-03  3.29301682e+01]
 [ 1.43650251e-02  4.30582947e-04  9.99896725e-01  4.84319644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.24650248099996
Centerline is valid?  [True, True]
Translation: X:155.43, Y:32.96, Z:4.84
[[ 9.15826180e-01 -4.01365648e-01 -1.29624548e-02  1.55434810e+02]
 [ 4.01317955e-01  9.15917783e-01 -6.20597250e-03  3.29581183e+01]
 [ 1.43634070e-02  4.81526236e-04  9.99896725e-01  4.84405009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.30650248099997
Centerline is valid?  [True, True]
Translation: X:155.49, Y:32.98, Z:4.84
[[ 9.16525135e-01 -3.99767019e-01 -1.29617353e-02  1.55487427e+02]
 [ 3.99719145e-01  9.16616644e-01 -6.20747492e-03  3.29841228e+01]
 [ 1.43624860e-02  5.08253052e-04  9.99896725e-01  4.84489291e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.36650248099997
Centerline is valid?  [True, True]
Translation: X:155.54, Y:33.01, Z:4.85
[[ 9.19322561e-01 -3.93291334e-01 -1.29597619e-02  1.55541018e+02]
 [ 3.93242758e-01  9.19413699e-01 -6.21159209e-03  3.30087715e+01]
 [ 1.43583480e-02  6.14124244e-04  9.99896725e-01  4.84573871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.42650248099997
Centerline is valid?  [True, True]
Translation: X:155.59, Y:33.03, Z:4.85
[[ 9.18977148e-01 -3.94097825e-01 -1.29578148e-02  1.55594753e+02]
 [ 3.94049272e-01  9.19068298e-01 -6.21565119e-03  3.30323862e+01]
 [ 1.43586914e-02  6.06023909e-04  9.99896725e-01  4.84657998e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.48650248099997
Centerline is valid?  [True, True]
Translation: X:155.65, Y:33.06, Z:4.85
[[ 9.17886608e-01 -3.96631215e-01 -1.29558372e-02  1.55648642e+02]
 [ 3.96582855e-01  9.17977861e-01 -6.21977067e-03  3.30567748e+01]
 [ 1.43601269e-02  5.70981310e-04  9.99896725e-01  4.84742800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.54650248099998
Centerline is valid?  [True, True]
Translation: X:155.70, Y:33.08, Z:4.85
[[ 9.15498644e-01 -4.02112462e-01 -1.29538089e-02  1.55701489e+02]
 [ 4.02064589e-01  9.15590153e-01 -6.22399203e-03  3.30808233e+01]
 [ 1.43631246e-02  4.89788413e-04  9.99896725e-01  4.84826034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.60650248099998
Centerline is valid?  [True, True]
Translation: X:155.75, Y:33.11, Z:4.85
[[ 9.14694189e-01 -4.03939048e-01 -1.29532462e-02  1.55754750e+02]
 [ 4.03891341e-01  9.14785785e-01 -6.22516288e-03  3.31057283e+01]
 [ 1.43640319e-02  4.62416332e-04  9.99896725e-01  4.84910482e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.66650248099998
Centerline is valid?  [True, True]
Translation: X:155.81, Y:33.13, Z:4.85
[[ 9.07512204e-01 -4.19825996e-01 -1.29511438e-02  1.55807154e+02]
 [ 4.19779832e-01  9.07604587e-01 -6.22953367e-03  3.31319899e+01]
 [ 1.43698377e-02  2.16748854e-04  9.99896725e-01  4.84994513e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.72650248099998
Centerline is valid?  [True, True]
Translation: X:155.86, Y:33.16, Z:4.85
[[ 9.12850600e-01 -4.08088305e-01 -1.29505598e-02  1.55860598e+02]
 [ 4.08040936e-01  9.12942371e-01 -6.23074751e-03  3.31574472e+01]
 [ 1.43658100e-02  4.03383051e-04  9.99896725e-01  4.85079540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.78650248099996
Centerline is valid?  [True, True]
Translation: X:155.91, Y:33.19, Z:4.85
[[ 9.12701406e-01 -4.08421930e-01 -1.29487629e-02  1.55912941e+02]
 [ 4.08374541e-01  9.12793167e-01 -6.23447964e-03  3.31857345e+01]
 [ 1.43658405e-02  4.02273216e-04  9.99896725e-01  4.85164785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.84650248099996
Centerline is valid?  [True, True]
Translation: X:155.96, Y:33.21, Z:4.85
[[ 9.13854409e-01 -4.05835508e-01 -1.29483339e-02  1.55963535e+02]
 [ 4.05787847e-01  9.13946029e-01 -6.23537062e-03  3.32140479e+01]
 [ 1.43646131e-02  4.43944411e-04  9.99896725e-01  4.85247917e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.90650248099996
Centerline is valid?  [True, True]
Translation: X:156.02, Y:33.24, Z:4.85
[[ 9.11452545e-01 -4.11201432e-01 -1.29476329e-02  1.56015683e+02]
 [ 4.11154290e-01  9.11544432e-01 -6.23682576e-03  3.32417596e+01]
 [ 1.43669344e-02  3.61095888e-04  9.99896725e-01  4.85332661e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.96650248099996
Centerline is valid?  [True, True]
Translation: X:156.07, Y:33.27, Z:4.85
[[ 9.13726607e-01 -4.06123252e-01 -1.29457531e-02  1.56067261e+02]
 [ 4.06075544e-01  9.13818202e-01 -6.24072530e-03  3.32707108e+01]
 [ 1.43645685e-02  4.45363016e-04  9.99896725e-01  4.85417327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 162.02650248099997
Centerline is valid?  [True, True]
Translation: X:156.12, Y:33.30, Z:4.86
[[ 9.19189517e-01 -3.93602657e-01 -1.29453206e-02  1.56120657e+02]
 [ 3.93553689e-01  9.19280445e-01 -6.24162236e-03  3.32956531e+01]
 [ 1.43570992e-02  6.42555169e-04  9.99896725e-01  4.85501985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.08650248099997
Centerline is valid?  [True, True]
Translation: X:156.17, Y:33.32, Z:4.86
[[ 9.20364328e-01 -3.90847724e-01 -1.29445111e-02  1.56174805e+02]
 [ 3.90798461e-01  9.20455096e-01 -6.24330076e-03  3.33213304e+01]
 [ 1.43550211e-02  6.87416321e-04  9.99896725e-01  4.85588041e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.14650248099997
Centerline is valid?  [True, True]
Translation: X:156.23, Y:33.35, Z:4.86
[[ 9.20461221e-01 -3.90619540e-01 -1.29427978e-02  1.56228953e+02]
 [ 3.90570205e-01  9.20551950e-01 -6.24685048e-03  3.33462774e+01]
 [ 1.43546596e-02  6.94912437e-04  9.99896725e-01  4.85673552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.20650248099997
Centerline is valid?  [True, True]
Translation: X:156.28, Y:33.37, Z:4.86
[[ 9.17378839e-01 -3.97804718e-01 -1.29410831e-02  1.56281718e+02]
 [ 3.97756044e-01  9.17469924e-01 -6.25040060e-03  3.33729376e+01]
 [ 1.43594934e-02  5.86591232e-04  9.99896725e-01  4.85758344e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.26650248099997
Centerline is valid?  [True, True]
Translation: X:156.34, Y:33.39, Z:4.86
[[ 9.19324549e-01 -3.93287355e-01 -1.29394383e-02  1.56336735e+02]
 [ 3.93238186e-01  9.19415368e-01 -6.25380380e-03  3.33948041e+01]
 [ 1.43562604e-02  6.60994127e-04  9.99896725e-01  4.85843059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.32650248099998
Centerline is valid?  [True, True]
Translation: X:156.39, Y:33.42, Z:4.86
[[ 9.19351262e-01 -3.93224934e-01 -1.29386605e-02  1.56390043e+02]
 [ 3.93175735e-01  9.19442065e-01 -6.25541265e-03  3.34198808e+01]
 [ 1.43561329e-02  6.63754167e-04  9.99896725e-01  4.85927652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.38650248099998
Centerline is valid?  [True, True]
Translation: X:156.44, Y:33.44, Z:4.86
[[ 9.19331201e-01 -3.93271899e-01 -1.29366290e-02  1.56444320e+02]
 [ 3.93222647e-01  9.19421975e-01 -6.25961101e-03  3.34426814e+01]
 [ 1.43559501e-02  6.67680206e-04  9.99896725e-01  4.86011952e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.44650248099998
Centerline is valid?  [True, True]
Translation: X:156.50, Y:33.47, Z:4.86
[[ 9.19437293e-01 -3.93023819e-01 -1.29360601e-02  1.56498880e+02]
 [ 3.92974525e-01  9.19528045e-01 -6.26078644e-03  3.34662453e+01]
 [ 1.43557083e-02  6.72858438e-04  9.99896725e-01  4.86097238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.50650248099996
Centerline is valid?  [True, True]
Translation: X:156.55, Y:33.49, Z:4.86
[[ 9.17486279e-01 -3.97557045e-01 -1.29353624e-02  1.56554925e+02]
 [ 3.97508180e-01  9.17577262e-01 -6.26222761e-03  3.34863548e+01]
 [ 1.43587872e-02  6.03595534e-04  9.99896725e-01  4.86182268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.56650248099996
Centerline is valid?  [True, True]
Translation: X:156.61, Y:33.50, Z:4.86
[[ 9.16285064e-01 -4.00317837e-01 -1.29348486e-02  1.56611617e+02]
 [ 4.00269231e-01  9.16376186e-01 -6.26328883e-03  3.35048227e+01]
 [ 1.43604934e-02  5.61536113e-04  9.99896725e-01  4.86267122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.62650248099996
Centerline is valid?  [True, True]
Translation: X:156.67, Y:33.52, Z:4.86
[[ 9.13670382e-01 -4.06250131e-01 -1.29330434e-02  1.56669103e+02]
 [ 4.06202064e-01  9.13761789e-01 -6.26701412e-03  3.35225313e+01]
 [ 1.43636962e-02  4.72556254e-04  9.99896725e-01  4.86352393e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.68650248099996
Centerline is valid?  [True, True]
Translation: X:156.73, Y:33.54, Z:4.86
[[ 9.13916530e-01 -4.05696140e-01 -1.29312735e-02  1.56726407e+02]
 [ 4.05647966e-01  9.14007881e-01 -6.27066400e-03  3.35380961e+01]
 [ 1.43632701e-02  4.85318697e-04  9.99896725e-01  4.86436080e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.74650248099996
Centerline is valid?  [True, True]
Translation: X:156.78, Y:33.56, Z:4.87
[[ 9.11061045e-01 -4.12068659e-01 -1.29302900e-02  1.56783177e+02]
 [ 4.12021096e-01  9.11152715e-01 -6.27269145e-03  3.35571133e+01]
 [ 1.43662483e-02  3.87252589e-04  9.99896725e-01  4.86521319e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.80650248099997
Centerline is valid?  [True, True]
Translation: X:156.84, Y:33.57, Z:4.87
[[ 9.11231088e-01 -4.11692558e-01 -1.29283812e-02  1.56839197e+02]
 [ 4.11644901e-01  9.11322709e-01 -6.27662309e-03  3.35738635e+01]
 [ 1.43659664e-02  3.97551902e-04  9.99896725e-01  4.86604060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.86650248099997
Centerline is valid?  [True, True]
Translation: X:156.90, Y:33.59, Z:4.87
[[ 9.12188464e-01 -4.09566954e-01 -1.29273195e-02  1.56895508e+02]
 [ 4.09519052e-01  9.12279958e-01 -6.27880893e-03  3.35925410e+01]
 [ 1.43649271e-02  4.33473445e-04  9.99896725e-01  4.86688475e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.92650248099997
Centerline is valid?  [True, True]
Translation: X:156.95, Y:33.61, Z:4.87
[[ 9.14416501e-01 -4.04568165e-01 -1.29252762e-02  1.56950357e+02]
 [ 4.04519704e-01  9.14507700e-01 -6.28301229e-03  3.36146885e+01]
 [ 1.43621714e-02  5.16761192e-04  9.99896725e-01  4.86773064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.98650248099997
Centerline is valid?  [True, True]
Translation: X:157.00, Y:33.64, Z:4.87
[[ 9.15717302e-01 -4.01615251e-01 -1.29233440e-02  1.57004852e+02]
 [ 4.01566440e-01  9.15808314e-01 -6.28698424e-03  3.36360120e+01]
 [ 1.43602546e-02  5.67519015e-04  9.99896725e-01  4.86856688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.04650248099998
Centerline is valid?  [True, True]
Translation: X:157.06, Y:33.66, Z:4.87
[[ 9.16040439e-01 -4.00877699e-01 -1.29222842e-02  1.57059414e+02]
 [ 4.00828784e-01  9.16131395e-01 -6.28916174e-03  3.36578889e+01]
 [ 1.43596949e-02  5.81503021e-04  9.99896725e-01  4.86940841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.10650248099998
Centerline is valid?  [True, True]
Translation: X:157.11, Y:33.68, Z:4.87
[[ 9.12687152e-01 -4.08454684e-01 -1.29202750e-02  1.57112389e+02]
 [ 4.08406466e-01  9.12778480e-01 -6.29328663e-03  3.36844024e+01]
 [ 1.43638714e-02  4.67078003e-04  9.99896725e-01  4.87025751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.16650248099998
Centerline is valid?  [True, True]
Translation: X:157.17, Y:33.71, Z:4.87
[[ 9.10941158e-01 -4.12333991e-01 -1.29184112e-02  1.57167974e+02]
 [ 4.12286108e-01  9.11032662e-01 -6.29711025e-03  3.37058325e+01]
 [ 1.43656071e-02  4.10215438e-04  9.99896725e-01  4.87110848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 163.22650248099998
Centerline is valid?  [True, True]
Translation: X:157.22, Y:33.73, Z:4.87
[[ 9.08191367e-01 -4.18355839e-01 -1.29163924e-02  1.57223578e+02]
 [ 4.18308504e-01  9.08283155e-01 -6.30124833e-03  3.37259176e+01]
 [ 1.43679057e-02  3.19702535e-04  9.99896725e-01  4.87195101e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.28650248099996
Centerline is valid?  [True, True]
Translation: X:157.28, Y:33.75, Z:4.87
[[ 8.99787694e-01 -4.36136819e-01 -1.29143700e-02  1.57275757e+02]
 [ 4.36091239e-01  8.99880366e-01 -6.30539055e-03  3.37528995e+01]
 [ 1.43714010e-02  4.16692059e-05  9.99896725e-01  4.87279272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.34650248099996
Centerline is valid?  [True, True]
Translation: X:157.33, Y:33.78, Z:4.87
[[ 9.00547925e-01 -4.34564961e-01 -1.29124084e-02  1.57328703e+02]
 [ 4.34519161e-01  9.00640489e-01 -6.30940499e-03  3.37763957e+01]
 [ 1.43712842e-02  7.12326888e-05  9.99896725e-01  4.87362241e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.40650248099996
Centerline is valid?  [True, True]
Translation: X:157.38, Y:33.80, Z:4.87
[[ 9.00027007e-01 -4.35642828e-01 -1.29117008e-02  1.57380595e+02]
 [ 4.35597119e-01  9.00119616e-01 -6.31085284e-03  3.38029442e+01]
 [ 1.43713529e-02  5.56383447e-05  9.99896725e-01  4.87445924e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.46650248099996
Centerline is valid?  [True, True]
Translation: X:157.43, Y:33.83, Z:4.88
[[ 8.99131779e-01 -4.37487542e-01 -1.29110045e-02  1.57433380e+02]
 [ 4.37442002e-01  8.99224471e-01 -6.31227688e-03  3.38306510e+01]
 [ 1.43714337e-02  2.77530755e-05  9.99896725e-01  4.87531491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.52650248099997
Centerline is valid?  [True, True]
Translation: X:157.49, Y:33.86, Z:4.88
[[ 8.99958477e-01 -4.35784457e-01 -1.29091893e-02  1.57485422e+02]
 [ 4.35738688e-01  9.00051056e-01 -6.31598707e-03  3.38581559e+01]
 [ 1.43713384e-02  5.90929086e-05  9.99896725e-01  4.87615842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.58650248099997
Centerline is valid?  [True, True]
Translation: X:157.54, Y:33.88, Z:4.88
[[ 9.04561882e-01 -4.26146893e-01 -1.29084234e-02  1.57538859e+02]
 [ 4.26100116e-01  9.04653956e-01 -6.31755203e-03  3.38809489e+01]
 [ 1.43698614e-02  2.14336053e-04  9.99896725e-01  4.87699140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.64650248099997
Centerline is valid?  [True, True]
Translation: X:157.59, Y:33.91, Z:4.88
[[ 9.03783772e-01 -4.27794675e-01 -1.29077424e-02  1.57590029e+02]
 [ 4.27748046e-01  9.03875921e-01 -6.31894304e-03  3.39113346e+01]
 [ 1.43702077e-02  1.89696590e-04  9.99896725e-01  4.87784320e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.70650248099997
Centerline is valid?  [True, True]
Translation: X:157.64, Y:33.94, Z:4.88
[[ 9.04880632e-01 -4.25469722e-01 -1.29057190e-02  1.57642341e+02]
 [ 4.25422797e-01  9.04972631e-01 -6.32307287e-03  3.39361288e+01]
 [ 1.43695985e-02  2.31239098e-04  9.99896725e-01  4.87867284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.76650248099997
Centerline is valid?  [True, True]
Translation: X:157.69, Y:33.96, Z:4.88
[[ 9.03501101e-01 -4.28391434e-01 -1.29050119e-02  1.57694822e+02]
 [ 4.28344787e-01  9.03593240e-01 -6.32451579e-03  3.39623507e+01]
 [ 1.43702499e-02  1.86412428e-04  9.99896725e-01  4.87951522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.82650248099998
Centerline is valid?  [True, True]
Translation: X:157.75, Y:33.99, Z:4.88
[[ 9.02557300e-01 -4.30376385e-01 -1.29030037e-02  1.57747118e+02]
 [ 4.30329882e-01  9.02649512e-01 -6.32861019e-03  3.39911362e+01]
 [ 1.43705743e-02  1.59385286e-04  9.99896725e-01  4.88036993e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.88650248099998
Centerline is valid?  [True, True]
Translation: X:157.80, Y:34.02, Z:4.88
[[ 9.01737250e-01 -4.32091996e-01 -1.29011363e-02  1.57800031e+02]
 [ 4.32045614e-01  9.01829523e-01 -6.33241464e-03  3.40180603e+01]
 [ 1.43708113e-02  1.36294819e-04  9.99896725e-01  4.88122100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.94650248099998
Centerline is valid?  [True, True]
Translation: X:157.85, Y:34.04, Z:4.88
[[ 9.00547538e-01 -4.34566155e-01 -1.28991479e-02  1.57853167e+02]
 [ 4.34519968e-01  9.00639909e-01 -6.33646228e-03  3.40439621e+01]
 [ 1.43710995e-02  1.01348152e-04  9.99896725e-01  4.88206834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.00650248099996
Centerline is valid?  [True, True]
Translation: X:157.90, Y:34.07, Z:4.88
[[ 8.98866645e-01 -4.38032437e-01 -1.28972286e-02  1.57904682e+02]
 [ 4.37986550e-01  8.98959166e-01 -6.34036656e-03  3.40723426e+01]
 [ 1.43713681e-02  5.03313642e-05  9.99896725e-01  4.88291057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.06650248099996
Centerline is valid?  [True, True]
Translation: X:157.96, Y:34.10, Z:4.88
[[ 8.99283261e-01 -4.37176541e-01 -1.28952779e-02  1.57957238e+02]
 [ 4.37130510e-01  8.99375710e-01 -6.34433152e-03  3.40998804e+01]
 [ 1.43712926e-02  6.84317516e-05  9.99896725e-01  4.88376086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.12650248099996
Centerline is valid?  [True, True]
Translation: X:158.01, Y:34.13, Z:4.88
[[ 8.99702158e-01 -4.36313866e-01 -1.28933061e-02  1.58009378e+02]
 [ 4.36267689e-01  8.99794533e-01 -6.34833619e-03  3.41279579e+01]
 [ 1.43711934e-02  8.66789270e-05  9.99896725e-01  4.88460920e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.18650248099996
Centerline is valid?  [True, True]
Translation: X:158.06, Y:34.15, Z:4.89
[[ 8.98487860e-01 -4.38809049e-01 -1.28912198e-02  1.58062179e+02]
 [ 4.38763067e-01  8.98580334e-01 -6.35256981e-03  3.41545427e+01]
 [ 1.43713617e-02  5.15157205e-05  9.99896725e-01  4.88545648e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.24650248099996
Centerline is valid?  [True, True]
Translation: X:158.11, Y:34.18, Z:4.89
[[ 8.95882005e-01 -4.44105050e-01 -1.28894239e-02  1.58113723e+02]
 [ 4.44059562e-01  8.95974723e-01 -6.35621163e-03  3.41809910e+01]
 [ 1.43714237e-02 -2.92563166e-05  9.99896725e-01  4.88628701e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.30650248099997
Centerline is valid?  [True, True]
Translation: X:158.17, Y:34.21, Z:4.89
[[ 8.94559020e-01 -4.46764015e-01 -1.28870188e-02  1.58165440e+02]
 [ 4.46718732e-01  8.94651838e-01 -6.36108423e-03  3.42076858e+01]
 [ 1.43712986e-02 -6.65074141e-05  9.99896725e-01  4.88712067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.36650248099997
Centerline is valid?  [True, True]
Translation: X:158.22, Y:34.23, Z:4.89
[[ 8.93481690e-01 -4.48914705e-01 -1.28862826e-02  1.58218169e+02]
 [ 4.48869625e-01  8.93574607e-01 -6.36257521e-03  3.42332352e+01]
 [ 1.43711085e-02 -9.94163807e-05  9.99896725e-01  4.88796197e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 164.42650248099997
Centerline is valid?  [True, True]
Translation: X:158.27, Y:34.26, Z:4.89
[[ 8.95186571e-01 -4.45505329e-01 -1.28842779e-02  1.58269960e+02]
 [ 4.45459837e-01  8.95279286e-01 -6.36663208e-03  3.42591054e+01]
 [ 1.43713957e-02 -4.01048068e-05  9.99896725e-01  4.88879179e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.48650248099997
Centerline is valid?  [True, True]
Translation: X:158.32, Y:34.29, Z:4.89
[[ 8.95645649e-01 -4.44581706e-01 -1.28832328e-02  1.58320494e+02]
 [ 4.44536087e-01  8.95738302e-01 -6.36874621e-03  3.42894021e+01]
 [ 1.43714332e-02 -2.29220813e-05  9.99896725e-01  4.88963470e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.54650248099998
Centerline is valid?  [True, True]
Translation: X:158.37, Y:34.31, Z:4.89
[[ 8.96326574e-01 -4.43207334e-01 -1.28814742e-02  1.58374445e+02]
 [ 4.43161522e-01  8.96419131e-01 -6.37230120e-03  3.43134465e+01]
 [ 1.43714506e-02  3.08917664e-06  9.99896725e-01  4.89048100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.60650248099998
Centerline is valid?  [True, True]
Translation: X:158.43, Y:34.34, Z:4.89
[[ 8.97055000e-01 -4.41731189e-01 -1.28796096e-02  1.58427024e+02]
 [ 4.41685171e-01  8.97147455e-01 -6.37606781e-03  3.43414826e+01]
 [ 1.43714170e-02  3.09509603e-05  9.99896725e-01  4.89133495e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.66650248099998
Centerline is valid?  [True, True]
Translation: X:158.48, Y:34.37, Z:4.89
[[ 9.00828583e-01 -4.33983903e-01 -1.28777379e-02  1.58477687e+02]
 [ 4.33937035e-01  9.00920611e-01 -6.37984582e-03  3.43693895e+01]
 [ 1.43705699e-02  1.59020073e-04  9.99896725e-01  4.89216341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.72650248099998
Centerline is valid?  [True, True]
Translation: X:158.53, Y:34.40, Z:4.89
[[ 9.01944884e-01 -4.31659135e-01 -1.28770244e-02  1.58529784e+02]
 [ 4.31612010e-01  9.02036780e-01 -6.38128561e-03  3.43979448e+01]
 [ 1.43700898e-02  1.97689543e-04  9.99896725e-01  4.89301578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.78650248099996
Centerline is valid?  [True, True]
Translation: X:158.58, Y:34.43, Z:4.89
[[ 9.00976310e-01 -4.33677207e-01 -1.28751668e-02  1.58580979e+02]
 [ 4.33630234e-01  9.01068284e-01 -6.38503140e-03  3.44285209e+01]
 [ 1.43704470e-02  1.69700452e-04  9.99896725e-01  4.89386819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.84650248099996
Centerline is valid?  [True, True]
Translation: X:158.63, Y:34.45, Z:4.89
[[ 9.01247691e-01 -4.33113008e-01 -1.28732911e-02  1.58633573e+02]
 [ 4.33065924e-01  9.01339608e-01 -6.38881089e-03  3.44519058e+01]
 [ 1.43702842e-02  1.82917376e-04  9.99896725e-01  4.89469268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.90650248099996
Centerline is valid?  [True, True]
Translation: X:158.68, Y:34.48, Z:4.90
[[ 9.01986274e-01 -4.31572783e-01 -1.28722374e-02  1.58683501e+02]
 [ 4.31525511e-01  9.02078095e-01 -6.39093323e-03  3.44839516e+01]
 [ 1.43699162e-02  2.09835242e-04  9.99896725e-01  4.89553909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.96650248099996
Centerline is valid?  [True, True]
Translation: X:158.74, Y:34.51, Z:4.90
[[ 9.03453769e-01 -4.28492292e-01 -1.28702600e-02  1.58736436e+02]
 [ 4.28444650e-01  9.03545398e-01 -6.39491274e-03  3.45099518e+01]
 [ 1.43690350e-02  2.63313951e-04  9.99896725e-01  4.89638459e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.02650248099997
Centerline is valid?  [True, True]
Translation: X:158.79, Y:34.54, Z:4.90
[[ 9.06552177e-01 -4.21897568e-01 -1.28682666e-02  1.58786363e+02]
 [ 4.21849203e-01  9.06643427e-01 -6.39892152e-03  3.45407645e+01]
 [ 1.43666188e-02  3.72488218e-04  9.99896725e-01  4.89722215e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.08650248099997
Centerline is valid?  [True, True]
Translation: X:158.84, Y:34.57, Z:4.90
[[ 9.00287613e-01 -4.35105348e-01 -1.28666361e-02  1.58838860e+02]
 [ 4.35058276e-01  9.00379536e-01 -6.40219841e-03  3.45676294e+01]
 [ 1.43704866e-02  1.66083414e-04  9.99896725e-01  4.89806794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.14650248099997
Centerline is valid?  [True, True]
Translation: X:158.89, Y:34.59, Z:4.90
[[ 8.98122833e-01 -4.39556452e-01 -1.28647451e-02  1.58892910e+02]
 [ 4.39509781e-01  8.98214961e-01 -6.40599606e-03  3.45916693e+01]
 [ 1.43711034e-02  9.91900559e-05  9.99896725e-01  4.89891533e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.20650248099997
Centerline is valid?  [True, True]
Translation: X:158.94, Y:34.62, Z:4.90
[[ 8.97348704e-01 -4.41134734e-01 -1.28627552e-02  1.58944739e+02]
 [ 4.41088168e-01  8.97440884e-01 -6.40998895e-03  3.46198775e+01]
 [ 1.43712312e-02  7.83861339e-05  9.99896725e-01  4.89976075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.26650248099997
Centerline is valid?  [True, True]
Translation: X:159.00, Y:34.65, Z:4.90
[[ 9.00935023e-01 -4.33763400e-01 -1.28606997e-02  1.58995764e+02]
 [ 4.33716021e-01  9.01026788e-01 -6.41411038e-03  3.46479750e+01]
 [ 1.43700413e-02  2.00805168e-04  9.99896725e-01  4.90059507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.32650248099998
Centerline is valid?  [True, True]
Translation: X:159.05, Y:34.67, Z:4.90
[[ 9.00803285e-01 -4.34036936e-01 -1.28599816e-02  1.59047997e+02]
 [ 4.33989564e-01  9.00895054e-01 -6.41554997e-03  3.46729513e+01]
 [ 1.43700794e-02  1.98050694e-04  9.99896725e-01  4.90142634e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.38650248099998
Centerline is valid?  [True, True]
Translation: X:159.10, Y:34.70, Z:4.90
[[ 8.94902697e-01 -4.46076055e-01 -1.28575335e-02  1.59100254e+02]
 [ 4.46029847e-01  8.94995058e-01 -6.42045243e-03  3.46993449e+01]
 [ 1.43714390e-02  1.08364924e-05  9.99896725e-01  4.90226517e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.44650248099998
Centerline is valid?  [True, True]
Translation: X:159.15, Y:34.73, Z:4.90
[[ 8.99176431e-01 -4.37397399e-01 -1.28554330e-02  1.59151671e+02]
 [ 4.37350240e-01  8.99268309e-01 -6.42465545e-03  3.47288265e+01]
 [ 1.43706111e-02  1.54572051e-04  9.99896725e-01  4.90311341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.50650248099996
Centerline is valid?  [True, True]
Translation: X:159.20, Y:34.76, Z:4.90
[[ 9.00139344e-01 -4.35412394e-01 -1.28533349e-02  1.59202898e+02]
 [ 4.35364973e-01  9.00231087e-01 -6.42885029e-03  3.47575742e+01]
 [ 1.43701727e-02  1.90969310e-04  9.99896726e-01  4.90395451e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.56650248099996
Centerline is valid?  [True, True]
Translation: X:159.25, Y:34.79, Z:4.90
[[ 9.00116257e-01 -4.35460181e-01 -1.28512514e-02  1.59252256e+02]
 [ 4.35412705e-01  9.00207972e-01 -6.43301236e-03  3.47880402e+01]
 [ 1.43701197e-02  1.94860855e-04  9.99896726e-01  4.90478270e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 165.62650248099996
Centerline is valid?  [True, True]
Translation: X:159.30, Y:34.81, Z:4.91
[[ 9.00628033e-01 -4.34400749e-01 -1.28505269e-02  1.59304944e+02]
 [ 4.34353144e-01  9.00719681e-01 -6.43445928e-03  3.48149665e+01]
 [ 1.43698565e-02  2.13387621e-04  9.99896726e-01  4.90563235e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.68650248099996
Centerline is valid?  [True, True]
Translation: X:159.36, Y:34.84, Z:4.91
[[ 9.01281267e-01 -4.33043860e-01 -1.28488841e-02  1.59355993e+02]
 [ 4.32996070e-01  9.01372819e-01 -6.43773814e-03  3.48421306e+01]
 [ 1.43694579e-02  2.38696453e-04  9.99896726e-01  4.90646153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.74650248099996
Centerline is valid?  [True, True]
Translation: X:159.41, Y:34.87, Z:4.91
[[ 9.02335757e-01 -4.30842320e-01 -1.28482254e-02  1.59407920e+02]
 [ 4.30794289e-01  9.02427182e-01 -6.43905242e-03  3.48685372e+01]
 [ 1.43688042e-02  2.75245096e-04  9.99896726e-01  4.90729812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.80650248099997
Centerline is valid?  [True, True]
Translation: X:159.46, Y:34.89, Z:4.91
[[ 9.02727101e-01 -4.30021821e-01 -1.28458002e-02  1.59460285e+02]
 [ 4.29973638e-01  9.02818446e-01 -6.44388719e-03  3.48935708e+01]
 [ 1.43684374e-02  2.93716169e-04  9.99896726e-01  4.90812967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.86650248099997
Centerline is valid?  [True, True]
Translation: X:159.53, Y:34.89, Z:4.91
[[ 9.02635861e-01 -4.30213328e-01 -1.28450613e-02  1.59527258e+02]
 [ 4.30165143e-01  9.02727205e-01 -6.44535958e-03  3.48922393e+01]
 [ 1.43684659e-02  2.92315048e-04  9.99896726e-01  4.90898069e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.92650248099997
Centerline is valid?  [True, True]
Translation: X:159.58, Y:34.92, Z:4.91
[[ 9.03211407e-01 -4.29003741e-01 -1.28430811e-02  1.59579961e+02]
 [ 4.28955378e-01  9.03302657e-01 -6.44930297e-03  3.49180483e+01]
 [ 1.43679644e-02  3.15975288e-04  9.99896726e-01  4.90982189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.98650248099997
Centerline is valid?  [True, True]
Translation: X:159.63, Y:34.95, Z:4.91
[[ 9.04003407e-01 -4.27332359e-01 -1.28411162e-02  1.59631090e+02]
 [ 4.27283772e-01  9.04094538e-01 -6.45321301e-03  3.49467661e+01]
 [ 1.43672497e-02  3.46925996e-04  9.99896726e-01  4.91066167e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.04650248099998
Centerline is valid?  [True, True]
Translation: X:159.68, Y:34.97, Z:4.91
[[ 9.04439544e-01 -4.26408529e-01 -1.28404223e-02  1.59683523e+02]
 [ 4.26359829e-01  9.04530615e-01 -6.45459335e-03  3.49746260e+01]
 [ 1.43668487e-02  3.63149214e-04  9.99896726e-01  4.91151407e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.10650248099998
Centerline is valid?  [True, True]
Translation: X:159.74, Y:35.00, Z:4.91
[[ 9.04923626e-01 -4.25380310e-01 -1.28383495e-02  1.59737461e+02]
 [ 4.25331448e-01  9.05014610e-01 -6.45871363e-03  3.49996871e+01]
 [ 1.43663034e-02  3.84088790e-04  9.99896726e-01  4.91236621e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.16650248099998
Centerline is valid?  [True, True]
Translation: X:159.79, Y:35.03, Z:4.91
[[ 9.03052533e-01 -4.29338269e-01 -1.28364199e-02  1.59788708e+02]
 [ 4.29289752e-01  9.03143701e-01 -6.46254631e-03  3.50303207e+01]
 [ 1.43677502e-02  3.25475303e-04  9.99896726e-01  4.91321996e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.22650248099998
Centerline is valid?  [True, True]
Translation: X:159.84, Y:35.05, Z:4.91
[[ 9.03561759e-01 -4.28265601e-01 -1.28344184e-02  1.59842017e+02]
 [ 4.28216919e-01  9.03652840e-01 -6.46651887e-03  3.50536369e+01]
 [ 1.43672462e-02  3.46984082e-04  9.99896726e-01  4.91405282e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.28650248099996
Centerline is valid?  [True, True]
Translation: X:159.90, Y:35.08, Z:4.91
[[ 9.03846318e-01 -4.27664738e-01 -1.28337230e-02  1.59895298e+02]
 [ 4.27615976e-01  9.03937356e-01 -6.46789852e-03  3.50781469e+01]
 [ 1.43669738e-02  3.58081265e-04  9.99896726e-01  4.91489446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.34650248099996
Centerline is valid?  [True, True]
Translation: X:159.95, Y:35.10, Z:4.92
[[ 9.03977885e-01 -4.27386631e-01 -1.28316817e-02  1.59947632e+02]
 [ 4.27337783e-01  9.04068876e-01 -6.47194578e-03  3.51044089e+01]
 [ 1.43667472e-02  3.67033439e-04  9.99896726e-01  4.91573378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.40650248099996
Centerline is valid?  [True, True]
Translation: X:160.00, Y:35.13, Z:4.92
[[ 9.03979606e-01 -4.27383017e-01 -1.28308066e-02  1.59999720e+02]
 [ 4.27334144e-01  9.04070584e-01 -6.47368021e-03  3.51308848e+01]
 [ 1.43666958e-02  3.69033114e-04  9.99896726e-01  4.91657263e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.46650248099996
Centerline is valid?  [True, True]
Translation: X:160.04, Y:35.17, Z:4.92
[[ 8.95612141e-01 -4.44650742e-01 -1.28300940e-02  1.60044456e+02]
 [ 4.44603603e-01  8.95704030e-01 -6.47509230e-03  3.51729715e+01]
 [ 1.43711215e-02  9.48652613e-05  9.99896726e-01  4.91741839e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.52650248099997
Centerline is valid?  [True, True]
Translation: X:160.10, Y:35.20, Z:4.92
[[ 8.94630667e-01 -4.46622188e-01 -1.28292786e-02  1.60096591e+02]
 [ 4.46575229e-01  8.94722648e-01 -6.47670740e-03  3.52013417e+01]
 [ 1.43712874e-02  6.50230327e-05  9.99896726e-01  4.91827021e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.58650248099997
Centerline is valid?  [True, True]
Translation: X:160.16, Y:35.21, Z:4.92
[[ 9.01808500e-01 -4.31945473e-01 -1.28272202e-02  1.60157260e+02]
 [ 4.31896959e-01  9.01899671e-01 -6.48078147e-03  3.52104518e+01]
 [ 1.43682099e-02  3.04386406e-04  9.99896726e-01  4.91910536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.64650248099997
Centerline is valid?  [True, True]
Translation: X:160.20, Y:35.26, Z:4.92
[[ 8.90533978e-01 -4.54735874e-01 -1.28264898e-02  1.60198469e+02]
 [ 4.54689674e-01  8.90626342e-01 -6.48222681e-03  3.52590400e+01]
 [ 1.43713108e-02 -5.94292407e-05  9.99896726e-01  4.91994816e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.70650248099997
Centerline is valid?  [True, True]
Translation: X:160.25, Y:35.29, Z:4.92
[[ 8.90218302e-01 -4.55353610e-01 -1.28243494e-02  1.60247707e+02]
 [ 4.55307413e-01  8.90310668e-01 -6.48645866e-03  3.52877194e+01]
 [ 1.43712874e-02 -6.46571168e-05  9.99896726e-01  4.92076346e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.76650248099997
Centerline is valid?  [True, True]
Translation: X:160.31, Y:35.29, Z:4.92
[[ 9.01098678e-01 -4.33424430e-01 -1.28232883e-02  1.60312755e+02]
 [ 4.33375955e-01  9.01189869e-01 -6.48855561e-03  3.52900986e+01]
 [ 1.43685160e-02  2.89524063e-04  9.99896726e-01  4.92161201e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 166.82650248099998
Centerline is valid?  [True, True]
Translation: X:160.37, Y:35.32, Z:4.92
[[ 9.00308555e-01 -4.35063355e-01 -1.28212082e-02  1.60365375e+02]
 [ 4.35014989e-01  9.00399803e-01 -6.49266319e-03  3.53159657e+01]
 [ 1.43689332e-02  2.67982467e-04  9.99896726e-01  4.92245239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.88650248099998
Centerline is valid?  [True, True]
Translation: X:160.42, Y:35.34, Z:4.92
[[ 9.01824409e-01 -4.31912496e-01 -1.28191484e-02  1.60417707e+02]
 [ 4.31863753e-01  9.01915457e-01 -6.49672749e-03  3.53430386e+01]
 [ 1.43678059e-02  3.22781868e-04  9.99896726e-01  4.92329694e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.94650248099998
Centerline is valid?  [True, True]
Translation: X:160.47, Y:35.37, Z:4.92
[[ 9.02257475e-01 -4.31007124e-01 -1.28182506e-02  1.60469460e+02]
 [ 4.30958264e-01  9.02348461e-01 -6.49849851e-03  3.53714858e+01]
 [ 1.43674278e-02  3.39187845e-04  9.99896726e-01  4.92414428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.00650248099996
Centerline is valid?  [True, True]
Translation: X:160.52, Y:35.40, Z:4.92
[[ 9.03400145e-01 -4.28606942e-01 -1.28166750e-02  1.60521753e+02]
 [ 4.28557797e-01  9.03490976e-01 -6.50160445e-03  3.53993941e+01]
 [ 1.43663830e-02  3.80864405e-04  9.99896726e-01  4.92499429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.06650248099996
Centerline is valid?  [True, True]
Translation: X:160.57, Y:35.43, Z:4.93
[[ 9.04254548e-01 -4.26801472e-01 -1.28146927e-02  1.60572780e+02]
 [ 4.26752090e-01  9.04345251e-01 -6.50550915e-03  3.54298961e+01]
 [ 1.43654674e-02  4.13939322e-04  9.99896726e-01  4.92584453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.12650248099996
Centerline is valid?  [True, True]
Translation: X:160.62, Y:35.46, Z:4.93
[[ 9.03262850e-01 -4.28896329e-01 -1.28125944e-02  1.60623830e+02]
 [ 4.28847099e-01  9.03353635e-01 -6.50963922e-03  3.54595393e+01]
 [ 1.43662641e-02  3.85271336e-04  9.99896726e-01  4.92668938e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.18650248099996
Centerline is valid?  [True, True]
Translation: X:160.68, Y:35.49, Z:4.93
[[ 9.03033413e-01 -4.29379255e-01 -1.28105393e-02  1.60676927e+02]
 [ 4.29330016e-01  9.03124194e-01 -6.51368096e-03  3.54850921e+01]
 [ 1.43663475e-02  3.82122493e-04  9.99896726e-01  4.92753389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.24650248099996
Centerline is valid?  [True, True]
Translation: X:160.73, Y:35.51, Z:4.93
[[ 9.00320304e-01 -4.35039415e-01 -1.28085127e-02  1.60728057e+02]
 [ 4.34990690e-01  9.00411361e-01 -6.51766376e-03  3.55138991e+01]
 [ 1.43683710e-02  2.96401254e-04  9.99896726e-01  4.92837443e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.30650248099997
Centerline is valid?  [True, True]
Translation: X:160.77, Y:35.56, Z:4.93
[[ 8.88542645e-01 -4.58615248e-01 -1.28070939e-02  1.60770538e+02]
 [ 4.58568899e-01  8.88634935e-01 -6.52045044e-03  3.55588608e+01]
 [ 1.43712090e-02 -7.92366660e-05  9.99896726e-01  4.92921021e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.36650248099997
Centerline is valid?  [True, True]
Translation: X:160.82, Y:35.59, Z:4.93
[[ 8.87914892e-01 -4.59829480e-01 -1.28060301e-02  1.60821945e+02]
 [ 4.59783228e-01  8.88007230e-01 -6.52253904e-03  3.55868207e+01]
 [ 1.43711030e-02 -9.65383091e-05  9.99896726e-01  4.93004989e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.42650248099997
Centerline is valid?  [True, True]
Translation: X:160.87, Y:35.61, Z:4.93
[[ 8.88319903e-01 -4.59046593e-01 -1.28053205e-02  1.60874936e+02]
 [ 4.59000239e-01  8.88412190e-01 -6.52393178e-03  3.56111737e+01]
 [ 1.43711915e-02 -8.23067426e-05  9.99896726e-01  4.93088668e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.48650248099997
Centerline is valid?  [True, True]
Translation: X:160.93, Y:35.63, Z:4.93
[[ 8.94152244e-01 -4.47579980e-01 -1.28034031e-02  1.60932426e+02]
 [ 4.47532388e-01  8.94243899e-01 -6.52769261e-03  3.56269530e+01]
 [ 1.43710296e-02  1.06813414e-04  9.99896726e-01  4.93172386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.54650248099998
Centerline is valid?  [True, True]
Translation: X:160.98, Y:35.66, Z:4.93
[[ 8.92223831e-01 -4.51411950e-01 -1.28018141e-02  1.60983743e+02]
 [ 4.51364708e-01  8.92315667e-01 -6.53080749e-03  3.56563131e+01]
 [ 1.43713438e-02  4.86550158e-05  9.99896726e-01  4.93257096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.60650248099998
Centerline is valid?  [True, True]
Translation: X:161.04, Y:35.68, Z:4.93
[[ 8.92805339e-01 -4.50260806e-01 -1.27997581e-02  1.61035460e+02]
 [ 4.50213388e-01  8.92897083e-01 -6.53483459e-03  3.56847807e+01]
 [ 1.43712465e-02  7.17127723e-05  9.99896726e-01  4.93341687e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.66650248099998
Centerline is valid?  [True, True]
Translation: X:161.09, Y:35.72, Z:4.93
[[ 8.92151982e-01 -4.51554051e-01 -1.27976391e-02  1.61085641e+02]
 [ 4.51506706e-01  8.92243765e-01 -6.53898172e-03  3.57168003e+01]
 [ 1.43713174e-02  5.55456391e-05  9.99896726e-01  4.93426629e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.72650248099995
Centerline is valid?  [True, True]
Translation: X:161.14, Y:35.75, Z:4.94
[[ 8.93607594e-01 -4.48666628e-01 -1.27954806e-02  1.61135264e+02]
 [ 4.48618926e-01  8.93699192e-01 -6.54320278e-03  3.57494035e+01]
 [ 1.43710274e-02  1.06760958e-04  9.99896726e-01  4.93511242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.78650248099996
Centerline is valid?  [True, True]
Translation: X:161.18, Y:35.78, Z:4.94
[[ 8.96443099e-01 -4.42974138e-01 -1.27938466e-02  1.61184311e+02]
 [ 4.42925810e-01  8.96534367e-01 -6.54639603e-03  3.57798998e+01]
 [ 1.43700073e-02  2.01746677e-04  9.99896726e-01  4.93593797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.84650248099996
Centerline is valid?  [True, True]
Translation: X:161.23, Y:35.81, Z:4.94
[[ 8.99805083e-01 -4.36104516e-01 -1.27930943e-02  1.61234154e+02]
 [ 4.36055470e-01  8.99895968e-01 -6.54786584e-03  3.58105085e+01]
 [ 1.43680079e-02  3.13304210e-04  9.99896726e-01  4.93677536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.90650248099996
Centerline is valid?  [True, True]
Translation: X:161.29, Y:35.84, Z:4.94
[[ 9.02782731e-01 -4.29906613e-01 -1.27924002e-02  1.61285316e+02]
 [ 4.29856923e-01  9.02873265e-01 -6.54922170e-03  3.58399001e+01]
 [ 1.43654698e-02  4.13622468e-04  9.99896726e-01  4.93762173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.96650248099996
Centerline is valid?  [True, True]
Translation: X:161.34, Y:35.87, Z:4.94
[[ 9.02970749e-01 -4.29511586e-01 -1.27915902e-02  1.61337289e+02]
 [ 4.29461834e-01  9.03061249e-01 -6.55080330e-03  3.58678029e+01]
 [ 1.43652354e-02  4.21683965e-04  9.99896726e-01  4.93846861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 168.02650248099997
Centerline is valid?  [True, True]
Translation: X:161.39, Y:35.90, Z:4.94
[[ 9.02395583e-01 -4.30718749e-01 -1.27894890e-02  1.61388966e+02]
 [ 4.30669060e-01  9.02486118e-01 -6.55490309e-03  3.58951492e+01]
 [ 1.43656559e-02  4.07078399e-04  9.99896726e-01  4.93930677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.08650248099997
Centerline is valid?  [True, True]
Translation: X:161.44, Y:35.92, Z:4.94
[[ 9.01791332e-01 -4.31982491e-01 -1.27875061e-02  1.61442198e+02]
 [ 4.31932875e-01  9.01881907e-01 -6.55876910e-03  3.59218596e+01]
 [ 1.43660938e-02  3.91296863e-04  9.99896726e-01  4.94016078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.14650248099997
Centerline is valid?  [True, True]
Translation: X:161.49, Y:35.95, Z:4.94
[[ 8.97768513e-01 -4.40281986e-01 -1.27855146e-02  1.61493290e+02]
 [ 4.40233152e-01  8.97859512e-01 -6.56264890e-03  3.59519172e+01]
 [ 1.43690120e-02  2.63132146e-04  9.99896726e-01  4.94100939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.20650248099997
Centerline is valid?  [True, True]
Translation: X:161.55, Y:35.98, Z:4.94
[[ 8.97372436e-01 -4.41088758e-01 -1.27835168e-02  1.61545830e+02]
 [ 4.41039950e-01  8.97463449e-01 -6.56653814e-03  3.59783737e+01]
 [ 1.43691653e-02  2.54588691e-04  9.99896726e-01  4.94185287e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.26650248099997
Centerline is valid?  [True, True]
Translation: X:161.60, Y:36.01, Z:4.94
[[ 8.95754033e-01 -4.44366231e-01 -1.27814063e-02  1.61596952e+02]
 [ 4.44317698e-01  8.95845193e-01 -6.57064370e-03  3.60066098e+01]
 [ 1.43699335e-02  2.06675591e-04  9.99896726e-01  4.94268981e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.32650248099998
Centerline is valid?  [True, True]
Translation: X:161.65, Y:36.03, Z:4.94
[[ 8.95801921e-01 -4.44269709e-01 -1.27806414e-02  1.61648714e+02]
 [ 4.44221145e-01  8.95893064e-01 -6.57213116e-03  3.60347455e+01]
 [ 1.43698868e-02  2.09896573e-04  9.99896726e-01  4.94353562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.38650248099998
Centerline is valid?  [True, True]
Translation: X:161.70, Y:36.06, Z:4.94
[[ 8.97815793e-01 -4.40185769e-01 -1.27785084e-02  1.61701933e+02]
 [ 4.40136731e-01  8.97906683e-01 -6.57627577e-03  3.60609561e+01]
 [ 1.43686911e-02  2.79993335e-04  9.99896726e-01  4.94438603e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.44650248099998
Centerline is valid?  [True, True]
Translation: X:161.75, Y:36.09, Z:4.95
[[ 8.96662642e-01 -4.42530072e-01 -1.27765886e-02  1.61753273e+02]
 [ 4.42481219e-01  8.96753631e-01 -6.58000343e-03  3.60891495e+01]
 [ 1.43693016e-02  2.46642746e-04  9.99896726e-01  4.94522569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.50650248099996
Centerline is valid?  [True, True]
Translation: X:161.81, Y:36.11, Z:4.95
[[ 8.95953206e-01 -4.43964719e-01 -1.27742203e-02  1.61806373e+02]
 [ 4.43915946e-01  8.96044238e-01 -6.58459810e-03  3.61128635e+01]
 [ 1.43695957e-02  2.28811705e-04  9.99896726e-01  4.94605792e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.56650248099996
Centerline is valid?  [True, True]
Translation: X:161.86, Y:36.14, Z:4.95
[[ 8.93486235e-01 -4.48908883e-01 -1.27735116e-02  1.61857041e+02]
 [ 4.48860594e-01  8.93577524e-01 -6.58597258e-03  3.61443492e+01]
 [ 1.43706245e-02  1.50949838e-04  9.99896726e-01  4.94691187e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.62650248099996
Centerline is valid?  [True, True]
Translation: X:161.91, Y:36.17, Z:4.95
[[ 8.92911302e-01 -4.50051435e-01 -1.27715694e-02  1.61910061e+02]
 [ 4.50003209e-01  8.93002624e-01 -6.58973670e-03  3.61695446e+01]
 [ 1.43707655e-02  1.36803136e-04  9.99896726e-01  4.94775324e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.68650248099996
Centerline is valid?  [True, True]
Translation: X:161.96, Y:36.20, Z:4.95
[[ 8.90984422e-01 -4.53854271e-01 -1.27694933e-02  1.61961171e+02]
 [ 4.53806377e-01  8.91075919e-01 -6.59375742e-03  3.61958281e+01]
 [ 1.43711929e-02  8.00576675e-05  9.99896726e-01  4.94857725e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.74650248099996
Centerline is valid?  [True, True]
Translation: X:162.01, Y:36.22, Z:4.95
[[ 8.90998462e-01 -4.53826732e-01 -1.27686256e-02  1.62013124e+02]
 [ 4.53778811e-01  8.91089945e-01 -6.59543711e-03  3.62210887e+01]
 [ 1.43711796e-02  8.23925591e-05  9.99896726e-01  4.94940646e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.80650248099997
Centerline is valid?  [True, True]
Translation: X:162.07, Y:36.25, Z:4.95
[[ 8.89690231e-01 -4.56386101e-01 -1.27679159e-02  1.62065798e+02]
 [ 4.56338424e-01  8.89781841e-01 -6.59681073e-03  3.62479638e+01]
 [ 1.43713525e-02  4.26274297e-05  9.99896726e-01  4.95025568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.86650248099997
Centerline is valid?  [True, True]
Translation: X:162.13, Y:36.26, Z:4.95
[[ 8.96739478e-01 -4.42374666e-01 -1.27657318e-02  1.62126229e+02]
 [ 4.42325497e-01  8.96830296e-01 -6.60103467e-03  3.62586146e+01]
 [ 1.43688255e-02  2.72799731e-04  9.99896726e-01  4.95109536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.92650248099997
Centerline is valid?  [True, True]
Translation: X:162.18, Y:36.28, Z:4.95
[[ 8.96526366e-01 -4.42806426e-01 -1.27650044e-02  1.62179441e+02]
 [ 4.42757281e-01  8.96617197e-01 -6.60244094e-03  3.62842640e+01]
 [ 1.43689257e-02  2.67463731e-04  9.99896726e-01  4.95194331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.98650248099997
Centerline is valid?  [True, True]
Translation: X:162.23, Y:36.31, Z:4.95
[[ 8.97131721e-01 -4.41578741e-01 -1.27628872e-02  1.62233207e+02]
 [ 4.41529414e-01  8.97222453e-01 -6.60653102e-03  3.63074372e+01]
 [ 1.43684526e-02  2.91738414e-04  9.99896726e-01  4.95278052e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.04650248099998
Centerline is valid?  [True, True]
Translation: X:162.28, Y:36.34, Z:4.95
[[ 8.94731135e-01 -4.46422859e-01 -1.27603989e-02  1.62284002e+02]
 [ 4.46373954e-01  8.94822096e-01 -6.61133364e-03  3.63356571e+01]
 [ 1.43697374e-02  2.19456322e-04  9.99896726e-01  4.95361275e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.10650248099998
Centerline is valid?  [True, True]
Translation: X:162.34, Y:36.36, Z:4.95
[[ 8.94786691e-01 -4.46311516e-01 -1.27596405e-02  1.62337680e+02]
 [ 4.46262579e-01  8.94877635e-01 -6.61279704e-03  3.63597386e+01]
 [ 1.43696844e-02  2.22892694e-04  9.99896726e-01  4.95445622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.16650248099998
Centerline is valid?  [True, True]
Translation: X:162.39, Y:36.39, Z:4.96
[[ 8.94527169e-01 -4.46831487e-01 -1.27579736e-02  1.62389820e+02]
 [ 4.46782558e-01  8.94618117e-01 -6.61601147e-03  3.63879778e+01]
 [ 1.43697565e-02  2.18161939e-04  9.99896726e-01  4.95530660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 169.22650248099995
Centerline is valid?  [True, True]
Translation: X:162.44, Y:36.42, Z:4.96
[[ 8.94731071e-01 -4.46423111e-01 -1.27560271e-02  1.62440469e+02]
 [ 4.46374086e-01  8.94821968e-01 -6.61976221e-03  3.64188974e+01]
 [ 1.43695881e-02  2.28946978e-04  9.99896726e-01  4.95615542e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.28650248099996
Centerline is valid?  [True, True]
Translation: X:162.49, Y:36.45, Z:4.96
[[ 8.94617794e-01 -4.46650120e-01 -1.27543580e-02  1.62491570e+02]
 [ 4.46601073e-01  8.94708678e-01 -6.62297661e-03  3.64469702e+01]
 [ 1.43695881e-02  2.28922765e-04  9.99896726e-01  4.95699148e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.34650248099996
Centerline is valid?  [True, True]
Translation: X:162.54, Y:36.48, Z:4.96
[[ 8.87506975e-01 -4.60617764e-01 -1.27532595e-02  1.62540209e+02]
 [ 4.60570117e-01  8.87598601e-01 -6.62509120e-03  3.64817167e+01]
 [ 1.43714100e-02  6.04443920e-06  9.99896726e-01  4.95784094e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.40650248099996
Centerline is valid?  [True, True]
Translation: X:162.59, Y:36.51, Z:4.96
[[ 8.86829714e-01 -4.61920411e-01 -1.27512068e-02  1.62591954e+02]
 [ 4.61872841e-01  8.86921380e-01 -6.62903966e-03  3.65092364e+01]
 [ 1.43714066e-02 -1.06067629e-05  9.99896726e-01  4.95868120e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.46650248099996
Centerline is valid?  [True, True]
Translation: X:162.64, Y:36.54, Z:4.96
[[ 8.86548552e-01 -4.62459830e-01 -1.27502824e-02  1.62643408e+02]
 [ 4.62412291e-01  8.86640234e-01 -6.63081718e-03  3.65380159e+01]
 [ 1.43713999e-02 -1.73459089e-05  9.99896726e-01  4.95952724e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.52650248099997
Centerline is valid?  [True, True]
Translation: X:162.69, Y:36.57, Z:4.96
[[ 8.86018597e-01 -4.63474411e-01 -1.27481942e-02  1.62694361e+02]
 [ 4.63426919e-01  8.86110303e-01 -6.63482947e-03  3.65661889e+01]
 [ 1.43713799e-02 -2.92740492e-05  9.99896726e-01  4.96036171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.58650248099997
Centerline is valid?  [True, True]
Translation: X:162.75, Y:36.59, Z:4.96
[[ 8.85002564e-01 -4.65411608e-01 -1.27474513e-02  1.62747364e+02]
 [ 4.65364296e-01  8.85094363e-01 -6.63625646e-03  3.65927281e+01]
 [ 1.43712881e-02 -5.91047172e-05  9.99896726e-01  4.96121284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.64650248099997
Centerline is valid?  [True, True]
Translation: X:162.80, Y:36.62, Z:4.96
[[ 8.81921305e-01 -4.71224327e-01 -1.27454119e-02  1.62800480e+02]
 [ 4.71177564e-01  8.82013385e-01 -6.64017095e-03  3.66192579e+01]
 [ 1.43706340e-02 -1.49243899e-04  9.99896726e-01  4.96206402e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.70650248099997
Centerline is valid?  [True, True]
Translation: X:162.86, Y:36.64, Z:4.96
[[ 8.84974281e-01 -4.65465492e-01 -1.27435368e-02  1.62855215e+02]
 [ 4.65418078e-01  8.85066027e-01 -6.64376765e-03  3.66430516e+01]
 [ 1.43713161e-02 -5.15088988e-05  9.99896726e-01  4.96291783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.76650248099997
Centerline is valid?  [True, True]
Translation: X:162.91, Y:36.67, Z:4.96
[[ 8.86812897e-01 -4.61952964e-01 -1.27414803e-02  1.62905333e+02]
 [ 4.61905130e-01  8.86904425e-01 -6.64770923e-03  3.66715774e+01]
 [ 1.43714042e-02  9.91916183e-06  9.99896726e-01  4.96374403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.82650248099998
Centerline is valid?  [True, True]
Translation: X:162.95, Y:36.71, Z:4.96
[[ 8.84669743e-01 -4.66044117e-01 -1.27407532e-02  1.62952988e+02]
 [ 4.65996686e-01  8.84761481e-01 -6.64910244e-03  3.67073916e+01]
 [ 1.43713028e-02 -5.48890434e-05  9.99896726e-01  4.96458868e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.88650248099998
Centerline is valid?  [True, True]
Translation: X:163.00, Y:36.74, Z:4.97
[[ 8.88188227e-01 -4.59303164e-01 -1.27387872e-02  1.63003934e+02]
 [ 4.59254983e-01  8.88279573e-01 -6.65286702e-03  3.67380060e+01]
 [ 1.43712873e-02  5.86466915e-05  9.99896726e-01  4.96543949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.94650248099998
Centerline is valid?  [True, True]
Translation: X:163.05, Y:36.77, Z:4.97
[[ 8.90377852e-01 -4.55044016e-01 -1.27367681e-02  1.63054735e+02]
 [ 4.54995342e-01  8.90468936e-01 -6.65673024e-03  3.67682053e+01]
 [ 1.43708016e-02  1.31835007e-04  9.99896726e-01  4.96628567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.00650248099996
Centerline is valid?  [True, True]
Translation: X:163.11, Y:36.80, Z:4.97
[[ 8.92931090e-01 -4.50013219e-01 -1.27346654e-02  1.63107260e+02]
 [ 4.49963975e-01  8.93021867e-01 -6.66075033e-03  3.67951235e+01]
 [ 1.43697604e-02  2.17450379e-04  9.99896726e-01  4.96713190e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.06650248099996
Centerline is valid?  [True, True]
Translation: X:163.16, Y:36.82, Z:4.97
[[ 8.93346514e-01 -4.49188033e-01 -1.27324896e-02  1.63159008e+02]
 [ 4.49138646e-01  8.93437214e-01 -6.66490697e-03  3.68228495e+01]
 [ 1.43694765e-02  2.35418262e-04  9.99896726e-01  4.96797353e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.12650248099996
Centerline is valid?  [True, True]
Translation: X:163.21, Y:36.85, Z:4.97
[[ 8.91891976e-01 -4.52069290e-01 -1.27303053e-02  1.63210701e+02]
 [ 4.52020136e-01  8.91982802e-01 -6.66907651e-03  3.68487953e+01]
 [ 1.43700981e-02  1.93741496e-04  9.99896726e-01  4.96880259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.18650248099996
Centerline is valid?  [True, True]
Translation: X:163.26, Y:36.88, Z:4.97
[[ 8.87437532e-01 -4.60752195e-01 -1.27295425e-02  1.63262513e+02]
 [ 4.60703910e-01  8.87528823e-01 -6.67053214e-03  3.68774404e+01]
 [ 1.43712982e-02  5.51305749e-05  9.99896726e-01  4.96965256e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.24650248099996
Centerline is valid?  [True, True]
Translation: X:163.31, Y:36.90, Z:4.97
[[ 8.83896280e-01 -4.67509757e-01 -1.27276596e-02  1.63313741e+02]
 [ 4.67462118e-01  8.83987910e-01 -6.67412286e-03  3.69044128e+01]
 [ 1.43713148e-02 -5.04663446e-05  9.99896726e-01  4.97048285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.30650248099997
Centerline is valid?  [True, True]
Translation: X:163.36, Y:36.94, Z:4.97
[[ 8.80984588e-01 -4.72973774e-01 -1.27265508e-02  1.63363898e+02]
 [ 4.72926673e-01  8.81076495e-01 -6.67623653e-03  3.69359265e+01]
 [ 1.43707496e-02 -1.37063839e-04  9.99896726e-01  4.97133057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.36650248099997
Centerline is valid?  [True, True]
Translation: X:163.41, Y:36.97, Z:4.97
[[ 8.81996056e-01 -4.71084959e-01 -1.27246986e-02  1.63412429e+02]
 [ 4.71037610e-01  8.82087836e-01 -6.67976490e-03  3.69696622e+01]
 [ 1.43710386e-02 -1.02285317e-04  9.99896726e-01  4.97217176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 170.42650248099997
Centerline is valid?  [True, True]
Translation: X:163.46, Y:37.00, Z:4.97
[[ 8.84577500e-01 -4.66219673e-01 -1.27225647e-02  1.63462624e+02]
 [ 4.66171760e-01  8.84668987e-01 -6.68382668e-03  3.70006424e+01]
 [ 1.43713899e-02 -1.85377089e-05  9.99896726e-01  4.97301551e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.48650248099997
Centerline is valid?  [True, True]
Translation: X:163.51, Y:37.03, Z:4.97
[[ 8.87180612e-01 -4.61246951e-01 -1.27205037e-02  1.63512128e+02]
 [ 4.61198470e-01  8.87271799e-01 -6.68774694e-03  3.70330435e+01]
 [ 1.43712471e-02  6.65626034e-05  9.99896726e-01  4.97386008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.54650248099998
Centerline is valid?  [True, True]
Translation: X:163.56, Y:37.06, Z:4.97
[[ 8.92265896e-01 -4.51331156e-01 -1.27184553e-02  1.63564566e+02]
 [ 4.51281606e-01  8.92356506e-01 -6.69164010e-03  3.70604675e+01]
 [ 1.43695420e-02  2.31117298e-04  9.99896726e-01  4.97470871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.60650248099998
Centerline is valid?  [True, True]
Translation: X:163.62, Y:37.09, Z:4.98
[[ 8.97483743e-01 -4.40864175e-01 -1.27165058e-02  1.63616516e+02]
 [ 4.40813516e-01  8.97573739e-01 -6.69534295e-03  3.70891545e+01]
 [ 1.43657385e-02  4.03353836e-04  9.99896726e-01  4.97555968e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.66650248099998
Centerline is valid?  [True, True]
Translation: X:163.67, Y:37.11, Z:4.98
[[ 9.11730430e-01 -4.10592211e-01 -1.27145152e-02  1.63673361e+02]
 [ 4.10538517e-01  9.11818649e-01 -6.69912101e-03  3.71088621e+01]
 [ 1.43439389e-02  8.87994282e-04  9.99896726e-01  4.97641272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.72650248099995
Centerline is valid?  [True, True]
Translation: X:163.72, Y:37.14, Z:4.98
[[ 9.02398469e-01 -4.30714947e-01 -1.27136671e-02  1.63721650e+02]
 [ 4.30663201e-01  9.02487844e-01 -6.70073003e-03  3.71429040e+01]
 [ 1.43600346e-02  5.71419949e-04  9.99896726e-01  4.97725404e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.78650248099996
Centerline is valid?  [True, True]
Translation: X:163.77, Y:37.17, Z:4.98
[[ 9.02035236e-01 -4.31475157e-01 -1.27130824e-02  1.63772430e+02]
 [ 4.31423470e-01  9.02124645e-01 -6.70183918e-03  3.71706221e+01]
 [ 1.43604621e-02  5.60572949e-04  9.99896726e-01  4.97808491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.84650248099996
Centerline is valid?  [True, True]
Translation: X:163.82, Y:37.20, Z:4.98
[[ 9.00843737e-01 -4.33957368e-01 -1.27107658e-02  1.63824101e+02]
 [ 4.33905866e-01  9.00933253e-01 -6.70623006e-03  3.71989023e+01]
 [ 1.43617695e-02  5.25989516e-04  9.99896726e-01  4.97892929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.90650248099996
Centerline is valid?  [True, True]
Translation: X:163.88, Y:37.23, Z:4.98
[[ 8.98691132e-01 -4.38397924e-01 -1.27086210e-02  1.63876785e+02]
 [ 4.38346807e-01  8.98780868e-01 -6.71029207e-03  3.72251535e+01]
 [ 1.43640435e-02  4.59696538e-04  9.99896726e-01  4.97977309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.96650248099996
Centerline is valid?  [True, True]
Translation: X:163.93, Y:37.25, Z:4.98
[[ 8.97208558e-01 -4.41424227e-01 -1.27065051e-02  1.63927996e+02]
 [ 4.41373356e-01  8.97298434e-01 -6.71429638e-03  3.72523948e+01]
 [ 1.43653802e-02  4.15811397e-04  9.99896726e-01  4.98060483e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.02650248099997
Centerline is valid?  [True, True]
Translation: X:163.98, Y:37.28, Z:4.98
[[ 9.00266986e-01 -4.35152774e-01 -1.27050154e-02  1.63980651e+02]
 [ 4.35101237e-01  9.00356481e-01 -6.71711401e-03  3.72796960e+01]
 [ 1.43620137e-02  5.19228074e-04  9.99896726e-01  4.98145591e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.08650248099997
Centerline is valid?  [True, True]
Translation: X:164.03, Y:37.31, Z:4.98
[[ 8.93695779e-01 -4.48493577e-01 -1.27029636e-02  1.64033272e+02]
 [ 4.48443322e-01  8.93786001e-01 -6.72099203e-03  3.73063381e+01]
 [ 1.43680528e-02  3.09963027e-04  9.99896726e-01  4.98230160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.14650248099997
Centerline is valid?  [True, True]
Translation: X:164.09, Y:37.33, Z:4.98
[[ 8.91784854e-01 -4.52281391e-01 -1.27011205e-02  1.64087097e+02]
 [ 4.52231469e-01  8.91875260e-01 -6.72447314e-03  3.73314218e+01]
 [ 1.43691692e-02  2.52936902e-04  9.99896726e-01  4.98315230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.20650248099997
Centerline is valid?  [True, True]
Translation: X:164.14, Y:37.36, Z:4.98
[[ 8.88069196e-01 -4.59534373e-01 -1.26989259e-02  1.64137608e+02]
 [ 4.59485131e-01  8.88159974e-01 -6.72861516e-03  3.73625292e+01]
 [ 1.43707076e-02  1.40508239e-04  9.99896726e-01  4.98400108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.26650248099997
Centerline is valid?  [True, True]
Translation: X:164.19, Y:37.39, Z:4.98
[[ 8.88752005e-01 -4.58212435e-01 -1.26979683e-02  1.64189679e+02]
 [ 4.58163032e-01  8.88842696e-01 -6.73042174e-03  3.73898190e+01]
 [ 1.43704593e-02  1.63936160e-04  9.99896726e-01  4.98484514e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.32650248099998
Centerline is valid?  [True, True]
Translation: X:164.24, Y:37.42, Z:4.99
[[ 8.89428530e-01 -4.56897916e-01 -1.26958149e-02  1.64239828e+02]
 [ 4.56848321e-01  8.89519116e-01 -6.73448122e-03  3.74212569e+01]
 [ 1.43701405e-02  1.89777980e-04  9.99896726e-01  4.98569164e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.38650248099998
Centerline is valid?  [True, True]
Translation: X:164.29, Y:37.45, Z:4.99
[[ 8.91306952e-01 -4.53222671e-01 -1.26936313e-02  1.64289891e+02]
 [ 4.53172644e-01  8.91397300e-01 -6.73859464e-03  3.74497136e+01]
 [ 1.43691525e-02  2.53749797e-04  9.99896726e-01  4.98651696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.44650248099998
Centerline is valid?  [True, True]
Translation: X:164.34, Y:37.48, Z:4.99
[[ 8.92253851e-01 -4.51355687e-01 -1.26928703e-02  1.64341634e+02]
 [ 4.51305451e-01  8.92344083e-01 -6.74002778e-03  3.74778231e+01]
 [ 1.43685576e-02  2.85454198e-04  9.99896726e-01  4.98736257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.50650248099996
Centerline is valid?  [True, True]
Translation: X:164.39, Y:37.51, Z:4.99
[[ 8.93079293e-01 -4.49720272e-01 -1.26907022e-02  1.64392455e+02]
 [ 4.49669812e-01  8.93169400e-01 -6.74410761e-03  3.75072143e+01]
 [ 1.43679087e-02  3.16397194e-04  9.99896726e-01  4.98820384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.56650248099996
Centerline is valid?  [True, True]
Translation: X:164.44, Y:37.54, Z:4.99
[[ 8.94776123e-01 -4.46334731e-01 -1.26884773e-02  1.64443700e+02]
 [ 4.46283871e-01  8.94866005e-01 -6.74829088e-03  3.75354975e+01]
 [ 1.43664836e-02  3.75546783e-04  9.99896726e-01  4.98904300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 171.62650248099996
Centerline is valid?  [True, True]
Translation: X:164.50, Y:37.56, Z:4.99
[[ 8.94158207e-01 -4.47571397e-01 -1.26864613e-02  1.64496508e+02]
 [ 4.47520608e-01  8.94248128e-01 -6.75207880e-03  3.75628847e+01]
 [ 1.43668816e-02  3.59973806e-04  9.99896726e-01  4.98989613e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.68650248099996
Centerline is valid?  [True, True]
Translation: X:164.55, Y:37.59, Z:4.99
[[ 8.95164983e-01 -4.45554439e-01 -1.26844086e-02  1.64548741e+02]
 [ 4.45503393e-01  8.95254760e-01 -6.75593266e-03  3.75892825e+01]
 [ 1.43659130e-02  3.96727263e-04  9.99896726e-01  4.99073523e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.74650248099996
Centerline is valid?  [True, True]
Translation: X:164.60, Y:37.62, Z:4.99
[[ 8.92652044e-01 -4.50567928e-01 -1.26834667e-02  1.64601207e+02]
 [ 4.50517361e-01  8.92742091e-01 -6.75770069e-03  3.76162710e+01]
 [ 1.43678677e-02  3.18153417e-04  9.99896726e-01  4.99158230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.80650248099997
Centerline is valid?  [True, True]
Translation: X:164.66, Y:37.64, Z:4.99
[[ 8.93776689e-01 -4.48332921e-01 -1.26815753e-02  1.64655557e+02]
 [ 4.48282079e-01  8.93866580e-01 -6.76124821e-03  3.76407156e+01]
 [ 1.43669265e-02  3.58123108e-04  9.99896726e-01  4.99243518e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.86650248099997
Centerline is valid?  [True, True]
Translation: X:164.71, Y:37.67, Z:4.99
[[ 8.92573536e-01 -4.50723542e-01 -1.26795417e-02  1.64707787e+02]
 [ 4.50672886e-01  8.92663533e-01 -6.76505976e-03  3.76678904e+01]
 [ 1.43677361e-02  3.23987688e-04  9.99896726e-01  4.99327948e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.92650248099997
Centerline is valid?  [True, True]
Translation: X:164.76, Y:37.69, Z:4.99
[[ 8.92276203e-01 -4.51311933e-01 -1.26773996e-02  1.64760394e+02]
 [ 4.51261279e-01  8.92366201e-01 -6.76907144e-03  3.76942710e+01]
 [ 1.43678457e-02  3.19061789e-04  9.99896726e-01  4.99412308e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.98650248099997
Centerline is valid?  [True, True]
Translation: X:164.81, Y:37.72, Z:4.99
[[ 8.91271197e-01 -4.53293487e-01 -1.26755190e-02  1.64811749e+02]
 [ 4.53242983e-01  8.91361279e-01 -6.77259119e-03  3.77238689e+01]
 [ 1.43684383e-02  2.91125408e-04  9.99896726e-01  4.99497284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.04650248099998
Centerline is valid?  [True, True]
Translation: X:164.86, Y:37.75, Z:5.00
[[ 8.89568974e-01 -4.56625040e-01 -1.26733384e-02  1.64863441e+02]
 [ 4.56574816e-01  8.89659212e-01 -6.77666920e-03  3.77511093e+01]
 [ 1.43693491e-02  2.41987509e-04  9.99896726e-01  4.99581063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.10650248099998
Centerline is valid?  [True, True]
Translation: X:164.92, Y:37.78, Z:5.00
[[ 8.89097337e-01 -4.57542712e-01 -1.26725334e-02  1.64916001e+02]
 [ 4.57492559e-01  8.89187615e-01 -6.77817434e-03  3.77780276e+01]
 [ 1.43695640e-02  2.28867030e-04  9.99896726e-01  4.99665850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.16650248099998
Centerline is valid?  [True, True]
Translation: X:164.97, Y:37.81, Z:5.00
[[ 8.86254153e-01 -4.63025960e-01 -1.26702845e-02  1.64968175e+02]
 [ 4.62976306e-01  8.86344707e-01 -6.78237554e-03  3.78057600e+01]
 [ 1.43706555e-02  1.44866989e-04  9.99896726e-01  4.99750565e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.22650248099995
Centerline is valid?  [True, True]
Translation: X:165.02, Y:37.83, Z:5.00
[[ 8.86063744e-01 -4.63390288e-01 -1.26681649e-02  1.65020004e+02]
 [ 4.63340615e-01  8.86154287e-01 -6.78633218e-03  3.78344710e+01]
 [ 1.43706691e-02  1.43447579e-04  9.99896726e-01  4.99835521e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.28650248099996
Centerline is valid?  [True, True]
Translation: X:165.07, Y:37.86, Z:5.00
[[ 8.86704401e-01 -4.62163259e-01 -1.26659540e-02  1.65070544e+02]
 [ 4.62113402e-01  8.86794843e-01 -6.79045610e-03  3.78647471e+01]
 [ 1.43704020e-02  1.68020218e-04  9.99896726e-01  4.99919898e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.34650248099996
Centerline is valid?  [True, True]
Translation: X:165.12, Y:37.89, Z:5.00
[[ 8.86007260e-01 -4.63498397e-01 -1.26637632e-02  1.65121960e+02]
 [ 4.63448617e-01  8.86097745e-01 -6.79453933e-03  3.78941885e+01]
 [ 1.43705901e-02  1.51007640e-04  9.99896726e-01  5.00004822e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.40650248099996
Centerline is valid?  [True, True]
Translation: X:165.17, Y:37.92, Z:5.00
[[ 8.90636303e-01 -4.54540051e-01 -1.26616393e-02  1.65173607e+02]
 [ 4.54489306e-01  8.90726249e-01 -6.79849500e-03  3.79213283e+01]
 [ 1.43682427e-02  3.00406819e-04  9.99896726e-01  5.00088481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.46650248099996
Centerline is valid?  [True, True]
Translation: X:165.22, Y:37.95, Z:5.00
[[ 8.93698345e-01 -4.48489656e-01 -1.26608686e-02  1.65223259e+02]
 [ 4.48438281e-01  8.93787933e-01 -6.79992997e-03  3.79505193e+01]
 [ 1.43658298e-02  3.99468025e-04  9.99896726e-01  5.00171133e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.52650248099997
Centerline is valid?  [True, True]
Translation: X:165.27, Y:37.98, Z:5.00
[[ 8.94612839e-01 -4.46662741e-01 -1.26595664e-02  1.65273596e+02]
 [ 4.46611149e-01  8.94702302e-01 -6.80235341e-03  3.79817685e+01]
 [ 1.43649010e-02  4.31569221e-04  9.99896726e-01  5.00256004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.58650248099997
Centerline is valid?  [True, True]
Translation: X:165.34, Y:37.99, Z:5.00
[[ 9.08355773e-01 -4.18006674e-01 -1.26574177e-02  1.65335441e+02]
 [ 4.17952210e-01  9.08443517e-01 -6.80634912e-03  3.79914238e+01]
 [ 1.43436484e-02  8.92390805e-04  9.99896726e-01  5.00340671e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.64650248099997
Centerline is valid?  [True, True]
Translation: X:165.38, Y:38.04, Z:5.00
[[ 8.96930368e-01 -4.41990644e-01 -1.26564765e-02  1.65378214e+02]
 [ 4.41938505e-01  8.97019514e-01 -6.80809899e-03  3.80367692e+01]
 [ 1.43622224e-02  5.13006448e-04  9.99896726e-01  5.00425598e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.70650248099997
Centerline is valid?  [True, True]
Translation: X:165.43, Y:38.07, Z:5.01
[[ 8.97420666e-01 -4.40994348e-01 -1.26544263e-02  1.65428198e+02]
 [ 4.40942056e-01  8.97509722e-01 -6.81190746e-03  3.80687805e+01]
 [ 1.43614834e-02  5.33277749e-04  9.99896726e-01  5.00510479e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.76650248099997
Centerline is valid?  [True, True]
Translation: X:165.48, Y:38.10, Z:5.01
[[ 8.97816694e-01 -4.40187579e-01 -1.26522560e-02  1.65480040e+02]
 [ 4.40135151e-01  8.97905670e-01 -6.81593624e-03  3.80962393e+01]
 [ 1.43608229e-02  5.50758730e-04  9.99896726e-01  5.00594600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 172.82650248099998
Centerline is valid?  [True, True]
Translation: X:165.53, Y:38.12, Z:5.01
[[ 8.99031796e-01 -4.37700590e-01 -1.26500341e-02  1.65532318e+02]
 [ 4.37647857e-01  8.99120592e-01 -6.82005739e-03  3.81226654e+01]
 [ 1.43590493e-02  5.95188111e-04  9.99896726e-01  5.00678564e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.88650248099998
Centerline is valid?  [True, True]
Translation: X:165.59, Y:38.15, Z:5.01
[[ 8.95808217e-01 -4.44260813e-01 -1.26478492e-02  1.65585641e+02]
 [ 4.44208674e-01  8.95897363e-01 -6.82410704e-03  3.81491503e+01]
 [ 1.43628581e-02  4.94806854e-04  9.99896726e-01  5.00763893e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.94650248099998
Centerline is valid?  [True, True]
Translation: X:165.64, Y:38.17, Z:5.01
[[ 8.93408620e-01 -4.49066944e-01 -1.26458111e-02  1.65639688e+02]
 [ 4.49015232e-01  8.93498014e-01 -6.82788179e-03  3.81733626e+01]
 [ 1.43651831e-02  4.21926664e-04  9.99896726e-01  5.00848596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.00650248099996
Centerline is valid?  [True, True]
Translation: X:165.71, Y:38.18, Z:5.01
[[ 8.98984160e-01 -4.37798570e-01 -1.26448268e-02  1.65706034e+02]
 [ 4.37745712e-01  8.99072882e-01 -6.82970406e-03  3.81751636e+01]
 [ 1.43586556e-02  6.04577048e-04  9.99896726e-01  5.00933638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.06650248099996
Centerline is valid?  [True, True]
Translation: X:165.75, Y:38.23, Z:5.01
[[ 8.91348211e-01 -4.53142944e-01 -1.26427384e-02  1.65745174e+02]
 [ 4.53091560e-01  8.91437794e-01 -6.83356780e-03  3.82274755e+01]
 [ 1.43667979e-02  3.62770364e-04  9.99896726e-01  5.01018675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.12650248099996
Centerline is valid?  [True, True]
Translation: X:165.80, Y:38.26, Z:5.01
[[ 8.86831496e-01 -4.61919994e-01 -1.26418627e-02  1.65797025e+02]
 [ 4.61869473e-01  8.86921569e-01 -6.83518740e-03  3.82556465e+01]
 [ 1.43696504e-02  2.22768989e-04  9.99896726e-01  5.01103408e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.18650248099996
Centerline is valid?  [True, True]
Translation: X:165.86, Y:38.26, Z:5.01
[[ 8.91453694e-01 -4.52935482e-01 -1.26396339e-02  1.65861978e+02]
 [ 4.52883996e-01  8.91543218e-01 -6.83930638e-03  3.82604014e+01]
 [ 1.43665445e-02  3.72637013e-04  9.99896726e-01  5.01188562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.24650248099996
Centerline is valid?  [True, True]
Translation: X:165.91, Y:38.29, Z:5.01
[[ 8.93228528e-01 -4.49425290e-01 -1.26374865e-02  1.65911716e+02]
 [ 4.49373396e-01  8.93317816e-01 -6.84327211e-03  3.82928061e+01]
 [ 1.43648314e-02  4.33655659e-04  9.99896726e-01  5.01273394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.30650248099997
Centerline is valid?  [True, True]
Translation: X:165.96, Y:38.33, Z:5.01
[[ 8.80576385e-01 -4.73735736e-01 -1.26365453e-02  1.65956221e+02]
 [ 4.73686284e-01  8.80667049e-01 -6.84500965e-03  3.83343031e+01]
 [ 1.43713147e-02  4.17956739e-05  9.99896726e-01  5.01357955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.36650248099997
Centerline is valid?  [True, True]
Translation: X:166.01, Y:38.35, Z:5.01
[[ 8.95329582e-01 -4.45225014e-01 -1.26343702e-02  1.66012284e+02]
 [ 4.45172620e-01  8.95418578e-01 -6.84902198e-03  3.83525485e+01]
 [ 1.43624057e-02  5.07656290e-04  9.99896726e-01  5.01441090e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.42650248099997
Centerline is valid?  [True, True]
Translation: X:166.06, Y:38.38, Z:5.02
[[ 8.95546210e-01 -4.44789151e-01 -1.26331638e-02  1.66063827e+02]
 [ 4.44736683e-01  8.95635162e-01 -6.85124646e-03  3.83823960e+01]
 [ 1.43620658e-02  5.17176419e-04  9.99896726e-01  5.01526548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.48650248099997
Centerline is valid?  [True, True]
Translation: X:166.12, Y:38.41, Z:5.02
[[ 8.98314071e-01 -4.39172242e-01 -1.26321695e-02  1.66116065e+02]
 [ 4.39119192e-01  8.98402677e-01 -6.85307931e-03  3.84104236e+01]
 [ 1.43584571e-02  6.09189508e-04  9.99896726e-01  5.01611659e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.54650248099998
Centerline is valid?  [True, True]
Translation: X:166.17, Y:38.44, Z:5.02
[[ 8.99318372e-01 -4.37112017e-01 -1.26312894e-02  1.66167330e+02]
 [ 4.37058741e-01  8.99406843e-01 -6.85470110e-03  3.84408246e+01]
 [ 1.43569403e-02  6.43943197e-04  9.99896726e-01  5.01697176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.60650248099998
Centerline is valid?  [True, True]
Translation: X:166.22, Y:38.47, Z:5.02
[[ 8.98528113e-01 -4.38734239e-01 -1.26292700e-02  1.66218348e+02]
 [ 4.38681070e-01  8.98616648e-01 -6.85841972e-03  3.84687570e+01]
 [ 1.43578958e-02  6.22261257e-04  9.99896726e-01  5.01780583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.66650248099998
Centerline is valid?  [True, True]
Translation: X:166.27, Y:38.49, Z:5.02
[[ 8.99948389e-01 -4.35813510e-01 -1.26285947e-02  1.66272208e+02]
 [ 4.35760037e-01  9.00036741e-01 -6.85966295e-03  3.84941469e+01]
 [ 1.43557330e-02  6.70305738e-04  9.99896726e-01  5.01865962e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.72650248099995
Centerline is valid?  [True, True]
Translation: X:166.32, Y:38.52, Z:5.02
[[ 8.99648478e-01 -4.36432337e-01 -1.26265800e-02  1.66324978e+02]
 [ 4.36378873e-01  8.99736836e-01 -6.86336941e-03  3.85199370e+01]
 [ 1.43559955e-02  6.64647116e-04  9.99896726e-01  5.01950110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.78650248099996
Centerline is valid?  [True, True]
Translation: X:166.38, Y:38.55, Z:5.02
[[ 8.95116619e-01 -4.45653300e-01 -1.26243604e-02  1.66376834e+02]
 [ 4.45600689e-01  8.95205487e-01 -6.86744959e-03  3.85475402e+01]
 [ 1.43618983e-02  5.21744564e-04  9.99896726e-01  5.02034328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.84650248099996
Centerline is valid?  [True, True]
Translation: X:166.43, Y:38.57, Z:5.02
[[ 8.91557261e-01 -4.52732046e-01 -1.26232069e-02  1.66430516e+02]
 [ 4.52680111e-01  8.91646525e-01 -6.86956922e-03  3.85729029e+01]
 [ 1.43655127e-02  4.10339624e-04  9.99896727e-01  5.02119413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.90650248099996
Centerline is valid?  [True, True]
Translation: X:166.48, Y:38.60, Z:5.02
[[ 8.88355366e-01 -4.58983064e-01 -1.26210383e-02  1.66483634e+02]
 [ 4.58931701e-01  8.88444961e-01 -6.87355118e-03  3.85985066e+01]
 [ 1.43679414e-02  3.13961503e-04  9.99896727e-01  5.02203851e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.96650248099996
Centerline is valid?  [True, True]
Translation: X:166.54, Y:38.62, Z:5.02
[[ 8.85662015e-01 -4.64158950e-01 -1.26199993e-02  1.66536592e+02]
 [ 4.64108083e-01  8.85751893e-01 -6.87545826e-03  3.86241578e+01]
 [ 1.43694937e-02  2.32288533e-04  9.99896727e-01  5.02288228e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 174.02650248099997
Centerline is valid?  [True, True]
Translation: X:166.59, Y:38.65, Z:5.02
[[ 8.83681404e-01 -4.67918763e-01 -1.26177785e-02  1.66587765e+02]
 [ 4.67868220e-01  8.83771464e-01 -6.87953151e-03  3.86505188e+01]
 [ 1.43702944e-02  1.75856503e-04  9.99896727e-01  5.02370724e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.08650248099997
Centerline is valid?  [True, True]
Translation: X:166.64, Y:38.68, Z:5.02
[[ 8.82751147e-01 -4.69671409e-01 -1.26166417e-02  1.66638714e+02]
 [ 4.69621016e-01  8.82841291e-01 -6.88161566e-03  3.86802624e+01]
 [ 1.43705904e-02  1.49714038e-04  9.99896727e-01  5.02455371e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.14650248099997
Centerline is valid?  [True, True]
Translation: X:166.69, Y:38.71, Z:5.03
[[ 8.83341513e-01 -4.68560185e-01 -1.26144472e-02  1.66690155e+02]
 [ 4.68509620e-01  8.83431561e-01 -6.88563592e-03  3.87095736e+01]
 [ 1.43703356e-02  1.72378176e-04  9.99896727e-01  5.02540236e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.20650248099997
Centerline is valid?  [True, True]
Translation: X:166.74, Y:38.74, Z:5.03
[[ 8.86951194e-01 -4.61690922e-01 -1.26123449e-02  1.66741766e+02]
 [ 4.61639606e-01  8.87040816e-01 -6.88948460e-03  3.87382516e+01]
 [ 1.43684772e-02  2.88278679e-04  9.99896727e-01  5.02624892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.26650248099997
Centerline is valid?  [True, True]
Translation: X:166.79, Y:38.77, Z:5.03
[[ 8.90756431e-01 -4.54306024e-01 -1.26102039e-02  1.66791347e+02]
 [ 4.54253909e-01  8.90845591e-01 -6.89340104e-03  3.87698495e+01]
 [ 1.43654582e-02  4.12106870e-04  9.99896727e-01  5.02708996e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.32650248099998
Centerline is valid?  [True, True]
Translation: X:166.84, Y:38.80, Z:5.03
[[ 8.94077932e-01 -4.47733915e-01 -1.26092052e-02  1.66843396e+02]
 [ 4.47681120e-01  8.94166691e-01 -6.89522748e-03  3.87987884e+01]
 [ 1.43619585e-02  5.19967634e-04  9.99896727e-01  5.02794493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.38650248099998
Centerline is valid?  [True, True]
Translation: X:166.89, Y:38.83, Z:5.03
[[ 8.97021400e-01 -4.41807273e-01 -1.26071923e-02  1.66894175e+02]
 [ 4.41753839e-01  8.97109776e-01 -6.89890580e-03  3.88263572e+01]
 [ 1.43580222e-02  6.19190535e-04  9.99896727e-01  5.02877345e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.44650248099998
Centerline is valid?  [True, True]
Translation: X:166.95, Y:38.85, Z:5.03
[[ 8.98545589e-01 -4.38699100e-01 -1.26064678e-02  1.66946454e+02]
 [ 4.38645343e-01  8.98633769e-01 -6.90022945e-03  3.88544291e+01]
 [ 1.43557221e-02  6.70402349e-04  9.99896727e-01  5.02962560e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.50650248099996
Centerline is valid?  [True, True]
Translation: X:167.00, Y:38.88, Z:5.03
[[ 8.99949702e-01 -4.35811467e-01 -1.26055573e-02  1.66998534e+02]
 [ 4.35757403e-01  9.00037693e-01 -6.90189242e-03  3.88820431e+01]
 [ 1.43534006e-02  7.18391113e-04  9.99896727e-01  5.03047189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.56650248099996
Centerline is valid?  [True, True]
Translation: X:167.05, Y:38.91, Z:5.03
[[ 9.00113599e-01 -4.35472921e-01 -1.26033253e-02  1.67050227e+02]
 [ 4.35418767e-01  9.00201536e-01 -6.90596580e-03  3.89092954e+01]
 [ 1.43528939e-02  7.28429370e-04  9.99896727e-01  5.03130952e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.62650248099996
Centerline is valid?  [True, True]
Translation: X:167.10, Y:38.94, Z:5.03
[[ 8.99674249e-01 -4.36379900e-01 -1.26027118e-02  1.67102079e+02]
 [ 4.36325820e-01  8.99762230e-01 -6.90708515e-03  3.89383037e+01]
 [ 1.43535572e-02  7.15238076e-04  9.99896727e-01  5.03216284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.68650248099996
Centerline is valid?  [True, True]
Translation: X:167.15, Y:38.97, Z:5.03
[[ 8.98033742e-01 -4.39746088e-01 -1.26006473e-02  1.67153016e+02]
 [ 4.39692285e-01  8.98121893e-01 -6.91084947e-03  3.89652563e+01]
 [ 1.43559362e-02  6.65768619e-04  9.99896727e-01  5.03298904e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.74650248099996
Centerline is valid?  [True, True]
Translation: X:167.20, Y:38.99, Z:5.03
[[ 8.95173213e-01 -4.45540315e-01 -1.25994957e-02  1.67204705e+02]
 [ 4.45487053e-01  8.95261692e-01 -6.91294828e-03  3.89936420e+01]
 [ 1.43598430e-02  5.75373916e-04  9.99896727e-01  5.03383549e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.80650248099997
Centerline is valid?  [True, True]
Translation: X:167.26, Y:39.02, Z:5.03
[[ 8.88497418e-01 -4.58708669e-01 -1.25974088e-02  1.67257722e+02]
 [ 4.58656666e-01  8.88586643e-01 -6.91674917e-03  3.90190954e+01]
 [ 1.43666620e-02  3.67628262e-04  9.99896727e-01  5.03467748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.86650248099997
Centerline is valid?  [True, True]
Translation: X:167.31, Y:39.04, Z:5.04
[[ 8.84440409e-01 -4.66483109e-01 -1.25965311e-02  1.67310764e+02]
 [ 4.66431867e-01  8.84530073e-01 -6.91834715e-03  3.90449165e+01]
 [ 1.43693027e-02  2.43442242e-04  9.99896727e-01  5.03552351e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.92650248099997
Centerline is valid?  [True, True]
Translation: X:167.36, Y:39.07, Z:5.04
[[ 8.80394572e-01 -4.74074626e-01 -1.25955189e-02  1.67360290e+02]
 [ 4.74024131e-01  8.80484659e-01 -6.92018960e-03  3.90747580e+01]
 [ 1.43708474e-02  1.21917480e-04  9.99896727e-01  5.03635291e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.98650248099997
Centerline is valid?  [True, True]
Translation: X:167.41, Y:39.11, Z:5.04
[[ 8.79917153e-01 -4.74960185e-01 -1.25947324e-02  1.67411231e+02]
 [ 4.74909760e-01  8.80007279e-01 -6.92162058e-03  3.91051523e+01]
 [ 1.43709504e-02  1.09091309e-04  9.99896727e-01  5.03720419e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.04650248099998
Centerline is valid?  [True, True]
Translation: X:167.46, Y:39.13, Z:5.04
[[ 8.80602183e-01 -4.73688951e-01 -1.25925908e-02  1.67461643e+02]
 [ 4.73638341e-01  8.80692205e-01 -6.92551471e-03  3.91349670e+01]
 [ 1.43707364e-02  1.34289564e-04  9.99896727e-01  5.03804349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.10650248099998
Centerline is valid?  [True, True]
Translation: X:167.51, Y:39.17, Z:5.04
[[ 8.84326968e-01 -4.66698262e-01 -1.25915361e-02  1.67511755e+02]
 [ 4.66646912e-01  8.84416570e-01 -6.92743185e-03  3.91660203e+01]
 [ 1.43691835e-02  2.50313373e-04  9.99896727e-01  5.03888867e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.16650248099998
Centerline is valid?  [True, True]
Translation: X:167.56, Y:39.20, Z:5.04
[[ 8.87700644e-01 -4.60248929e-01 -1.25892866e-02  1.67561178e+02]
 [ 4.60196871e-01  8.87789836e-01 -6.93151748e-03  3.91980096e+01]
 [ 1.43668642e-02  3.59562248e-04  9.99896727e-01  5.03973051e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 175.22650248099995
Centerline is valid?  [True, True]
Translation: X:167.61, Y:39.23, Z:5.04
[[ 8.91208647e-01 -4.53418915e-01 -1.25870993e-02  1.67611169e+02]
 [ 4.53366118e-01  8.91297404e-01 -6.93548701e-03  3.92303776e+01]
 [ 1.43635300e-02  4.74401628e-04  9.99896727e-01  5.04058225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.28650248099996
Centerline is valid?  [True, True]
Translation: X:167.66, Y:39.26, Z:5.04
[[ 8.94858618e-01 -4.46172242e-01 -1.25851082e-02  1.67662569e+02]
 [ 4.46118675e-01  8.94946913e-01 -6.93909821e-03  3.92606211e+01]
 [ 1.43590368e-02  5.95060020e-04  9.99896727e-01  5.04143718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.34650248099996
Centerline is valid?  [True, True]
Translation: X:167.71, Y:39.29, Z:5.04
[[ 8.97493882e-01 -4.40847361e-01 -1.25831439e-02  1.67713816e+02]
 [ 4.40793221e-01  8.97581827e-01 -6.94265840e-03  3.92892935e+01]
 [ 1.43550539e-02  6.84428900e-04  9.99896727e-01  5.04227933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.40650248099996
Centerline is valid?  [True, True]
Translation: X:167.76, Y:39.32, Z:5.04
[[ 8.98409171e-01 -4.38979134e-01 -1.25809870e-02  1.67764788e+02]
 [ 4.38924757e-01  8.98496969e-01 -6.94656489e-03  3.93168928e+01]
 [ 1.43533757e-02  7.18750958e-04  9.99896727e-01  5.04311039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.46650248099996
Centerline is valid?  [True, True]
Translation: X:167.82, Y:39.34, Z:5.04
[[ 8.97968158e-01 -4.39880581e-01 -1.25802110e-02  1.67817246e+02]
 [ 4.39826272e-01  8.98055998e-01 -6.94796983e-03  3.93438998e+01]
 [ 1.43540110e-02  7.05948361e-04  9.99896727e-01  5.04395731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.52650248099997
Centerline is valid?  [True, True]
Translation: X:167.87, Y:39.37, Z:5.04
[[ 8.97274595e-01 -4.41293616e-01 -1.25796089e-02  1.67871003e+02]
 [ 4.41239430e-01  8.97362511e-01 -6.94905980e-03  3.93699278e+01]
 [ 1.43550452e-02  6.84595347e-04  9.99896727e-01  5.04481394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.58650248099997
Centerline is valid?  [True, True]
Translation: X:167.92, Y:39.40, Z:5.05
[[ 8.94562166e-01 -4.46766538e-01 -1.25774572e-02  1.67924017e+02]
 [ 4.46712835e-01  8.94650378e-01 -6.95295204e-03  3.93968065e+01]
 [ 1.43587732e-02  6.01336245e-04  9.99896727e-01  5.04566565e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.64650248099997
Centerline is valid?  [True, True]
Translation: X:167.98, Y:39.42, Z:5.05
[[ 8.90412788e-01 -4.54980138e-01 -1.25753940e-02  1.67976986e+02]
 [ 4.54927197e-01  8.90501460e-01 -6.95668162e-03  3.94235652e+01]
 [ 1.43635587e-02  4.73429509e-04  9.99896727e-01  5.04651602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.70650248099997
Centerline is valid?  [True, True]
Translation: X:168.03, Y:39.45, Z:5.05
[[ 8.86108241e-01 -4.63307779e-01 -1.25732771e-02  1.68029691e+02]
 [ 4.63255618e-01  8.86197373e-01 -6.96050558e-03  3.94506743e+01]
 [ 1.43672615e-02  3.43120103e-04  9.99896727e-01  5.04736543e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.76650248099997
Centerline is valid?  [True, True]
Translation: X:168.08, Y:39.48, Z:5.05
[[ 8.79937785e-01 -4.74922556e-01 -1.25721888e-02  1.68083125e+02]
 [ 4.74871544e-01  8.80027580e-01 -6.96247074e-03  3.94755422e+01]
 [ 1.43705073e-02  1.56366369e-04  9.99896727e-01  5.04820939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.82650248099998
Centerline is valid?  [True, True]
Translation: X:168.13, Y:39.50, Z:5.05
[[ 8.77941621e-01 -4.78602661e-01 -1.25699399e-02  1.68134373e+02]
 [ 4.78551966e-01  8.78031596e-01 -6.96652854e-03  3.95025536e+01]
 [ 1.43710035e-02  1.00835906e-04  9.99896727e-01  5.04903965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.88650248099998
Centerline is valid?  [True, True]
Translation: X:168.19, Y:39.53, Z:5.05
[[ 8.75690474e-01 -4.82709240e-01 -1.25691486e-02  1.68186948e+02]
 [ 4.82658947e-01  8.75780673e-01 -6.96795585e-03  3.95302994e+01]
 [ 1.43713141e-02  3.51605076e-05  9.99896727e-01  5.04989312e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.94650248099995
Centerline is valid?  [True, True]
Translation: X:168.24, Y:39.56, Z:5.05
[[ 8.78004154e-01 -4.78488010e-01 -1.25669901e-02  1.68237042e+02]
 [ 4.78437228e-01  8.78094080e-01 -6.97184673e-03  3.95582310e+01]
 [ 1.43709447e-02  1.08794498e-04  9.99896727e-01  5.05071535e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.00650248099996
Centerline is valid?  [True, True]
Translation: X:168.29, Y:39.59, Z:5.05
[[ 8.79098612e-01 -4.76474266e-01 -1.25660126e-02  1.68288444e+02]
 [ 4.76423252e-01  8.79188406e-01 -6.97360808e-03  3.95879036e+01]
 [ 1.43706374e-02  1.43748593e-04  9.99896727e-01  5.05156734e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.06650248099996
Centerline is valid?  [True, True]
Translation: X:168.34, Y:39.62, Z:5.05
[[ 8.85902817e-01 -4.63700713e-01 -1.25636996e-02  1.68337018e+02]
 [ 4.63648347e-01  8.85991829e-01 -6.97777269e-03  3.96188421e+01]
 [ 1.43669334e-02  3.56489935e-04  9.99896727e-01  5.05239131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.12650248099996
Centerline is valid?  [True, True]
Translation: X:168.39, Y:39.65, Z:5.05
[[ 8.84763444e-01 -4.65871036e-01 -1.25628876e-02  1.68389160e+02]
 [ 4.65818867e-01  8.84852572e-01 -6.97923438e-03  3.96477853e+01]
 [ 1.43677265e-02  3.22941387e-04  9.99896727e-01  5.05324767e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.18650248099996
Centerline is valid?  [True, True]
Translation: X:168.44, Y:39.68, Z:5.05
[[ 8.88211000e-01 -4.59264026e-01 -1.25607965e-02  1.68439663e+02]
 [ 4.59211141e-01  8.88299705e-01 -6.98299576e-03  3.96760673e+01]
 [ 1.43647906e-02  4.34315968e-04  9.99896727e-01  5.05407757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.24650248099996
Centerline is valid?  [True, True]
Translation: X:168.49, Y:39.71, Z:5.05
[[ 8.86872344e-01 -4.61843806e-01 -1.25596129e-02  1.68489638e+02]
 [ 4.61791149e-01  8.86961185e-01 -6.98512399e-03  3.97077512e+01]
 [ 1.43659254e-02  3.94995238e-04  9.99896727e-01  5.05492549e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.30650248099997
Centerline is valid?  [True, True]
Translation: X:168.54, Y:39.74, Z:5.06
[[ 8.83855717e-01 -4.67591038e-01 -1.25576023e-02  1.68539011e+02]
 [ 4.67538907e-01  8.83944867e-01 -6.98873670e-03  3.97378542e+01]
 [ 1.43680987e-02  3.05867247e-04  9.99896727e-01  5.05575403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.36650248099997
Centerline is valid?  [True, True]
Translation: X:168.59, Y:39.77, Z:5.06
[[ 8.81858429e-01 -4.71347047e-01 -1.25567654e-02  1.68588559e+02]
 [ 4.71295275e-01  8.81947788e-01 -6.99024007e-03  3.97704051e+01]
 [ 1.43692404e-02  2.46457952e-04  9.99896727e-01  5.05660302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 176.42650248099997
Centerline is valid?  [True, True]
Translation: X:168.64, Y:39.80, Z:5.06
[[ 8.81217273e-01 -4.72544710e-01 -1.25544921e-02  1.68638281e+02]
 [ 4.72493001e-01  8.81306668e-01 -6.99432045e-03  3.98022706e+01]
 [ 1.43694867e-02  2.31606339e-04  9.99896727e-01  5.05744806e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.48650248099997
Centerline is valid?  [True, True]
Translation: X:168.69, Y:39.84, Z:5.06
[[ 8.79542947e-01 -4.75653877e-01 -1.25536230e-02  1.68687185e+02]
 [ 4.75602462e-01  8.79632512e-01 -6.99587992e-03  3.98358352e+01]
 [ 1.43701924e-02  1.82642813e-04  9.99896727e-01  5.05829607e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.54650248099998
Centerline is valid?  [True, True]
Translation: X:168.74, Y:39.87, Z:5.06
[[ 8.81702192e-01 -4.71639384e-01 -1.25513553e-02  1.68737757e+02]
 [ 4.71587503e-01  8.81791487e-01 -6.99994605e-03  3.98655848e+01]
 [ 1.43691285e-02  2.52805441e-04  9.99896727e-01  5.05913704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.60650248099998
Centerline is valid?  [True, True]
Translation: X:168.79, Y:39.90, Z:5.06
[[ 8.82391293e-01 -4.70348942e-01 -1.25490364e-02  1.68785744e+02]
 [ 4.70296871e-01  8.82480479e-01 -7.00410077e-03  3.99015896e+01]
 [ 1.43686511e-02  2.78584966e-04  9.99896727e-01  5.05998935e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.66650248099998
Centerline is valid?  [True, True]
Translation: X:168.83, Y:39.93, Z:5.06
[[ 8.85365313e-01 -4.64726628e-01 -1.25468230e-02  1.68834241e+02]
 [ 4.64673936e-01  8.85454132e-01 -7.00806360e-03  3.99337938e+01]
 [ 1.43664700e-02  3.74514811e-04  9.99896727e-01  5.06082159e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.72650248099995
Centerline is valid?  [True, True]
Translation: X:168.88, Y:39.97, Z:5.06
[[ 8.87746301e-01 -4.60162049e-01 -1.25456484e-02  1.68882037e+02]
 [ 4.60108870e-01  8.87834830e-01 -7.01016563e-03  3.99660551e+01]
 [ 1.43642758e-02  4.50884488e-04  9.99896727e-01  5.06164641e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.78650248099996
Centerline is valid?  [True, True]
Translation: X:168.93, Y:40.00, Z:5.06
[[ 8.86766278e-01 -4.62047832e-01 -1.25446929e-02  1.68931754e+02]
 [ 4.61994817e-01  8.86854905e-01 -7.01187518e-03  3.99975620e+01]
 [ 1.43651441e-02  4.22311361e-04  9.99896727e-01  5.06249024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.84650248099996
Centerline is valid?  [True, True]
Translation: X:168.98, Y:40.03, Z:5.06
[[ 8.85417684e-01 -4.64626959e-01 -1.25424972e-02  1.68981641e+02]
 [ 4.64574147e-01  8.85506432e-01 -7.01580055e-03  4.00278124e+01]
 [ 1.43661920e-02  3.84993951e-04  9.99896727e-01  5.06332633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.90650248099996
Centerline is valid?  [True, True]
Translation: X:169.03, Y:40.06, Z:5.06
[[ 8.82700896e-01 -4.69767852e-01 -1.25416776e-02  1.69032055e+02]
 [ 4.69715536e-01  8.82789937e-01 -7.01726540e-03  4.00591457e+01]
 [ 1.43681524e-02  3.03125659e-04  9.99896727e-01  5.06417785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.96650248099996
Centerline is valid?  [True, True]
Translation: X:169.08, Y:40.09, Z:5.07
[[ 8.79083667e-01 -4.76502540e-01 -1.25393409e-02  1.69083124e+02]
 [ 4.76450847e-01  8.79173072e-01 -7.02143829e-03  4.00887502e+01]
 [ 1.43699841e-02  1.98052103e-04  9.99896727e-01  5.06502413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.02650248099997
Centerline is valid?  [True, True]
Translation: X:169.13, Y:40.12, Z:5.07
[[ 8.76249971e-01 -4.81693690e-01 -1.25370689e-02  1.69133472e+02]
 [ 4.81642468e-01  8.76339646e-01 -7.02549277e-03  4.01200016e+01]
 [ 1.43708661e-02  1.17703027e-04  9.99896727e-01  5.06587301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.08650248099997
Centerline is valid?  [True, True]
Translation: X:169.18, Y:40.15, Z:5.07
[[ 8.77173362e-01 -4.80010182e-01 -1.25347088e-02  1.69183377e+02]
 [ 4.79958728e-01  8.77262904e-01 -7.02970105e-03  4.01524589e+01]
 [ 1.43705631e-02  1.50123602e-04  9.99896727e-01  5.06672476e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.14650248099997
Centerline is valid?  [True, True]
Translation: X:169.23, Y:40.18, Z:5.07
[[ 8.77790926e-01 -4.78879968e-01 -1.25325859e-02  1.69233621e+02]
 [ 4.78828345e-01  8.77880371e-01 -7.03348368e-03  4.01842416e+01]
 [ 1.43703056e-02  1.72970765e-04  9.99896727e-01  5.06757624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.20650248099997
Centerline is valid?  [True, True]
Translation: X:169.28, Y:40.22, Z:5.07
[[ 8.80179457e-01 -4.74475589e-01 -1.25314954e-02  1.69282408e+02]
 [ 4.74423490e-01  8.80268626e-01 -7.03542619e-03  4.02166709e+01]
 [ 1.43692202e-02  2.47201831e-04  9.99896727e-01  5.06841493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.26650248099997
Centerline is valid?  [True, True]
Translation: X:169.33, Y:40.25, Z:5.07
[[ 8.81597736e-01 -4.71835203e-01 -1.25288620e-02  1.69332574e+02]
 [ 4.71782771e-01  8.81686709e-01 -7.04011262e-03  4.02472730e+01]
 [ 1.43683041e-02  2.95646101e-04  9.99896727e-01  5.06925676e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.32650248099998
Centerline is valid?  [True, True]
Translation: X:169.38, Y:40.28, Z:5.07
[[ 8.80808003e-01 -4.73307878e-01 -1.25265847e-02  1.69383082e+02]
 [ 4.73255537e-01  8.80897029e-01 -7.04416238e-03  4.02764122e+01]
 [ 1.43686888e-02  2.76279028e-04  9.99896727e-01  5.07009288e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.38650248099998
Centerline is valid?  [True, True]
Translation: X:169.43, Y:40.31, Z:5.07
[[ 8.80683103e-01 -4.73540259e-01 -1.25257910e-02  1.69432775e+02]
 [ 4.73487922e-01  8.80772131e-01 -7.04557346e-03  4.03063189e+01]
 [ 1.43687303e-02  2.74106752e-04  9.99896727e-01  5.07092545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.44650248099995
Centerline is valid?  [True, True]
Translation: X:169.48, Y:40.34, Z:5.07
[[ 8.80503940e-01 -4.73873334e-01 -1.25250210e-02  1.69483343e+02]
 [ 4.73821010e-01  8.80592977e-01 -7.04694206e-03  4.03362554e+01]
 [ 1.43688034e-02  2.70242154e-04  9.99896727e-01  5.07176923e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.50650248099996
Centerline is valid?  [True, True]
Translation: X:169.53, Y:40.37, Z:5.07
[[ 8.80689338e-01 -4.73528744e-01 -1.25226984e-02  1.69533347e+02]
 [ 4.73476327e-01  8.80778320e-01 -7.05106694e-03  4.03657093e+01]
 [ 1.43686041e-02  2.80598232e-04  9.99896727e-01  5.07260124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.56650248099996
Centerline is valid?  [True, True]
Translation: X:169.58, Y:40.40, Z:5.07
[[ 8.83440182e-01 -4.68376607e-01 -1.25219400e-02  1.69583907e+02]
 [ 4.68323652e-01  8.83528845e-01 -7.05241360e-03  4.03956260e+01]
 [ 1.43666807e-02  3.66064895e-04  9.99896727e-01  5.07344480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 177.62650248099996
Centerline is valid?  [True, True]
Translation: X:169.63, Y:40.42, Z:5.07
[[ 8.87140786e-01 -4.61329042e-01 -1.25196506e-02  1.69634907e+02]
 [ 4.61275326e-01  8.87228990e-01 -7.05647545e-03  4.04246205e+01]
 [ 1.43631540e-02  4.85081275e-04  9.99896727e-01  5.07428608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.68650248099996
Centerline is valid?  [True, True]
Translation: X:169.69, Y:40.45, Z:5.08
[[ 8.89551867e-01 -4.56662624e-01 -1.25189322e-02  1.69686152e+02]
 [ 4.56608428e-01  8.89639776e-01 -7.05774968e-03  4.04514985e+01]
 [ 1.43603505e-02  5.61984447e-04  9.99896727e-01  5.07511681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.74650248099996
Centerline is valid?  [True, True]
Translation: X:169.74, Y:40.48, Z:5.08
[[ 8.90174588e-01 -4.55447594e-01 -1.25176959e-02  1.69738509e+02]
 [ 4.55393247e-01  8.90262404e-01 -7.05994177e-03  4.04796231e+01]
 [ 1.43594675e-02  5.84106586e-04  9.99896727e-01  5.07596982e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.80650248099997
Centerline is valid?  [True, True]
Translation: X:169.79, Y:40.51, Z:5.08
[[ 8.89319163e-01 -4.57115725e-01 -1.25156052e-02  1.69792286e+02]
 [ 4.57061491e-01  8.89407049e-01 -7.06364616e-03  4.05052610e+01]
 [ 1.43603712e-02  5.61434739e-04  9.99896727e-01  5.07682231e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.86650248099997
Centerline is valid?  [True, True]
Translation: X:169.84, Y:40.53, Z:5.08
[[ 8.87603701e-01 -4.60437925e-01 -1.25135066e-02  1.69843219e+02]
 [ 4.60383967e-01  8.87691757e-01 -7.06736186e-03  4.05329386e+01]
 [ 1.43622181e-02  5.11998727e-04  9.99896727e-01  5.07765358e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.92650248099997
Centerline is valid?  [True, True]
Translation: X:169.90, Y:40.56, Z:5.08
[[ 8.83990192e-01 -4.67337961e-01 -1.25128148e-02  1.69895404e+02]
 [ 4.67284674e-01  8.84078655e-01 -7.06858653e-03  4.05611503e+01]
 [ 1.43657313e-02  4.01514583e-04  9.99896727e-01  5.07850549e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.98650248099997
Centerline is valid?  [True, True]
Translation: X:169.95, Y:40.59, Z:5.08
[[ 8.83286089e-01 -4.68667438e-01 -1.25106695e-02  1.69945933e+02]
 [ 4.68614230e-01  8.83374600e-01 -7.07238147e-03  4.05904055e+01]
 [ 1.43662026e-02  3.84258421e-04  9.99896727e-01  5.07934281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.04650248099998
Centerline is valid?  [True, True]
Translation: X:170.00, Y:40.62, Z:5.08
[[ 8.82621250e-01 -4.69918325e-01 -1.25098597e-02  1.69997519e+02]
 [ 4.69865222e-01  8.82709825e-01 -7.07381361e-03  4.06202621e+01]
 [ 1.43666907e-02  3.65550229e-04  9.99896727e-01  5.08019874e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.10650248099998
Centerline is valid?  [True, True]
Translation: X:170.05, Y:40.65, Z:5.08
[[ 8.86241167e-01 -4.63055233e-01 -1.25077824e-02  1.70049298e+02]
 [ 4.63001393e-01  8.86329295e-01 -7.07748477e-03  4.06481209e+01]
 [ 1.43632803e-02  4.81237714e-04  9.99896727e-01  5.08104189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.16650248099998
Centerline is valid?  [True, True]
Translation: X:170.10, Y:40.68, Z:5.08
[[ 8.88034469e-01 -4.59606750e-01 -1.25066838e-02  1.70098140e+02]
 [ 4.59552541e-01  8.88122370e-01 -7.07942550e-03  4.06803397e+01]
 [ 1.43612174e-02  5.39295552e-04  9.99896727e-01  5.08187999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.22650248099995
Centerline is valid?  [True, True]
Translation: X:170.15, Y:40.71, Z:5.08
[[ 8.89806601e-01 -4.56166439e-01 -1.25057251e-02  1.70150644e+02]
 [ 4.56111866e-01  8.89894277e-01 -7.08111856e-03  4.07069034e+01]
 [ 1.43589419e-02  5.96816407e-04  9.99896727e-01  5.08272398e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.28650248099996
Centerline is valid?  [True, True]
Translation: X:170.20, Y:40.73, Z:5.08
[[ 8.90752966e-01 -4.54315733e-01 -1.25047376e-02  1.70203574e+02]
 [ 4.54260953e-01  8.90840513e-01 -7.08286200e-03  4.07338172e+01]
 [ 1.43575825e-02  6.28666301e-04  9.99896727e-01  5.08357573e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.34650248099996
Centerline is valid?  [True, True]
Translation: X:170.25, Y:40.76, Z:5.08
[[ 8.90139634e-01 -4.55516323e-01 -1.25024329e-02  1.70254912e+02]
 [ 4.55461604e-01  8.90227220e-01 -7.08692784e-03  4.07624885e+01]
 [ 1.43582174e-02  6.13977197e-04  9.99896727e-01  5.08441890e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.40650248099996
Centerline is valid?  [True, True]
Translation: X:170.31, Y:40.79, Z:5.09
[[ 8.89271733e-01 -4.57208389e-01 -1.25009538e-02  1.70306775e+02]
 [ 4.57153800e-01  8.89359399e-01 -7.08953604e-03  4.07884941e+01]
 [ 1.43592361e-02  5.89665482e-04  9.99896727e-01  5.08525043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.46650248099996
Centerline is valid?  [True, True]
Translation: X:170.36, Y:40.82, Z:5.09
[[ 8.86693070e-01 -4.62189562e-01 -1.24983505e-02  1.70359745e+02]
 [ 4.62135401e-01  8.86781001e-01 -7.09412245e-03  4.08156554e+01]
 [ 1.43621291e-02  5.14378994e-04  9.99896727e-01  5.08610301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.52650248099997
Centerline is valid?  [True, True]
Translation: X:170.41, Y:40.84, Z:5.09
[[ 8.82749068e-01 -4.69678537e-01 -1.24961713e-02  1.70411245e+02]
 [ 4.69625068e-01  8.82837422e-01 -7.09795893e-03  4.08415736e+01]
 [ 1.43658467e-02  3.97201311e-04  9.99896727e-01  5.08692874e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.58650248099997
Centerline is valid?  [True, True]
Translation: X:170.46, Y:40.87, Z:5.09
[[ 8.80511211e-01 -4.73860606e-01 -1.24953322e-02  1.70463473e+02]
 [ 4.73807537e-01  8.80599805e-01 -7.09943588e-03  4.08678968e+01]
 [ 1.43675301e-02  3.30750320e-04  9.99896727e-01  5.08776759e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.64650248099997
Centerline is valid?  [True, True]
Translation: X:170.52, Y:40.90, Z:5.09
[[ 8.79694192e-01 -4.75375657e-01 -1.24945427e-02  1.70515032e+02]
 [ 4.75322720e-01  8.79782865e-01 -7.10082505e-03  4.08958502e+01]
 [ 1.43680440e-02  3.07614535e-04  9.99896727e-01  5.08860967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.70650248099997
Centerline is valid?  [True, True]
Translation: X:170.57, Y:40.92, Z:5.09
[[ 8.81237539e-01 -4.72508527e-01 -1.24936406e-02  1.70566949e+02]
 [ 4.72455279e-01  8.81326027e-01 -7.10241192e-03  4.09214084e+01]
 [ 1.43669208e-02  3.56225559e-04  9.99896727e-01  5.08943913e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.76650248099997
Centerline is valid?  [True, True]
Translation: X:170.62, Y:40.95, Z:5.09
[[ 8.83322959e-01 -4.68598430e-01 -1.24924915e-02  1.70618795e+02]
 [ 4.68544762e-01  8.83411192e-01 -7.10443246e-03  4.09505099e+01]
 [ 1.43651327e-02  4.22216843e-04  9.99896727e-01  5.09029264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 178.82650248099998
Centerline is valid?  [True, True]
Translation: X:170.67, Y:40.98, Z:5.09
[[ 8.84263184e-01 -4.66821821e-01 -1.24903338e-02  1.70668897e+02]
 [ 4.66767922e-01  8.84351276e-01 -7.10822398e-03  4.09807220e+01]
 [ 1.43641167e-02  4.55453625e-04  9.99896727e-01  5.09113136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.88650248099998
Centerline is valid?  [True, True]
Translation: X:170.72, Y:41.01, Z:5.09
[[ 8.87256326e-01 -4.61107632e-01 -1.24885635e-02  1.70722484e+02]
 [ 4.61053123e-01  8.87344041e-01 -7.11133280e-03  4.10055716e+01]
 [ 1.43607423e-02  5.51683799e-04  9.99896727e-01  5.09197582e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.94650248099995
Centerline is valid?  [True, True]
Translation: X:170.77, Y:41.04, Z:5.09
[[ 8.87379731e-01 -4.60870128e-01 -1.24875541e-02  1.70773695e+02]
 [ 4.60815570e-01  8.87467416e-01 -7.11310489e-03  4.10358001e+01]
 [ 1.43605149e-02  5.57565740e-04  9.99896727e-01  5.09282954e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.00650248099996
Centerline is valid?  [True, True]
Translation: X:170.82, Y:41.06, Z:5.09
[[ 8.87222158e-01 -4.61173455e-01 -1.24854254e-02  1.70824896e+02]
 [ 4.61118875e-01  8.87309830e-01 -7.11683933e-03  4.10635487e+01]
 [ 1.43605381e-02  5.56952215e-04  9.99896727e-01  5.09366447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.06650248099996
Centerline is valid?  [True, True]
Translation: X:170.88, Y:41.09, Z:5.09
[[ 8.85729030e-01 -4.64034766e-01 -1.24828365e-02  1.70877229e+02]
 [ 4.63980405e-01  8.85816838e-01 -7.12137738e-03  4.10901945e+01]
 [ 1.43620735e-02  5.15819137e-04  9.99896727e-01  5.09450528e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.12650248099996
Centerline is valid?  [True, True]
Translation: X:170.93, Y:41.12, Z:5.10
[[ 8.83082498e-01 -4.69051742e-01 -1.24806032e-02  1.70928626e+02]
 [ 4.68997825e-01  8.83170578e-01 -7.12528921e-03  4.11199883e+01]
 [ 1.43646309e-02  4.38842424e-04  9.99896727e-01  5.09535711e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.18650248099996
Centerline is valid?  [True, True]
Translation: X:170.98, Y:41.15, Z:5.10
[[ 8.80403921e-01 -4.74060358e-01 -1.24784666e-02  1.70979752e+02]
 [ 4.74006889e-01  8.80492275e-01 -7.12902915e-03  4.11488953e+01]
 [ 1.43667835e-02  3.61546097e-04  9.99896727e-01  5.09619934e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.24650248099996
Centerline is valid?  [True, True]
Translation: X:171.03, Y:41.18, Z:5.10
[[ 8.80482869e-01 -4.73913771e-01 -1.24761767e-02  1.71030439e+02]
 [ 4.73860230e-01  8.80571180e-01 -7.13303424e-03  4.11771301e+01]
 [ 1.43666048e-02  3.68550488e-04  9.99896727e-01  5.09703115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.30650248099997
Centerline is valid?  [True, True]
Translation: X:171.08, Y:41.21, Z:5.10
[[ 8.79986756e-01 -4.74834362e-01 -1.24754508e-02  1.71080314e+02]
 [ 4.74780896e-01  8.80075112e-01 -7.13430364e-03  4.12094597e+01]
 [ 1.43669463e-02  3.54987013e-04  9.99896727e-01  5.09788345e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.36650248099997
Centerline is valid?  [True, True]
Translation: X:171.13, Y:41.24, Z:5.10
[[ 8.80825171e-01 -4.73277332e-01 -1.24733552e-02  1.71130474e+02]
 [ 4.73223658e-01  8.80913400e-01 -7.13796565e-03  4.12401511e+01]
 [ 1.43661831e-02  3.84613056e-04  9.99896727e-01  5.09872640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.42650248099997
Centerline is valid?  [True, True]
Translation: X:171.18, Y:41.27, Z:5.10
[[ 8.82128480e-01 -4.70843729e-01 -1.24711014e-02  1.71181609e+02]
 [ 4.70789756e-01  8.82216526e-01 -7.14190126e-03  4.12689735e+01]
 [ 1.43649311e-02  4.28807744e-04  9.99896727e-01  5.09956805e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.48650248099997
Centerline is valid?  [True, True]
Translation: X:171.23, Y:41.30, Z:5.10
[[ 8.81127456e-01 -4.72714418e-01 -1.24693573e-02  1.71231686e+02]
 [ 4.72660589e-01  8.81215591e-01 -7.14494502e-03  4.13003334e+01]
 [ 1.43657106e-02  4.01833477e-04  9.99896727e-01  5.10041508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.54650248099998
Centerline is valid?  [True, True]
Translation: X:171.29, Y:41.32, Z:5.10
[[ 8.80544605e-01 -4.73799295e-01 -1.24670109e-02  1.71285204e+02]
 [ 4.73745516e-01  8.80632771e-01 -7.14903685e-03  4.13238892e+01]
 [ 1.43660669e-02  3.88855331e-04  9.99896727e-01  5.10124870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.60650248099998
Centerline is valid?  [True, True]
Translation: X:171.34, Y:41.35, Z:5.10
[[ 8.79684873e-01 -4.75393645e-01 -1.24661912e-02  1.71336751e+02]
 [ 4.75340006e-01  8.79773124e-01 -7.15046582e-03  4.13531933e+01]
 [ 1.43667060e-02  3.64477191e-04  9.99896727e-01  5.10210018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.66650248099998
Centerline is valid?  [True, True]
Translation: X:171.39, Y:41.38, Z:5.10
[[ 8.79825545e-01 -4.75133312e-01 -1.24638374e-02  1.71387657e+02]
 [ 4.75079589e-01  8.79913744e-01 -7.15456643e-03  4.13804406e+01]
 [ 1.43664747e-02  3.73455572e-04  9.99896727e-01  5.10292759e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.72650248099995
Centerline is valid?  [True, True]
Translation: X:171.44, Y:41.41, Z:5.10
[[ 8.79281283e-01 -4.76139789e-01 -1.24630148e-02  1.71440684e+02]
 [ 4.76086146e-01  8.79369531e-01 -7.15599909e-03  4.14059601e+01]
 [ 1.43668514e-02  3.58667383e-04  9.99896727e-01  5.10377042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.78650248099996
Centerline is valid?  [True, True]
Translation: X:171.49, Y:41.43, Z:5.10
[[ 8.78571247e-01 -4.77448703e-01 -1.24619849e-02  1.71494613e+02]
 [ 4.77395166e-01  8.78659559e-01 -7.15779222e-03  4.14312780e+01]
 [ 1.43673207e-02  3.39339095e-04  9.99896727e-01  5.10462286e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.84650248099996
Centerline is valid?  [True, True]
Translation: X:171.55, Y:41.46, Z:5.11
[[ 8.77274298e-01 -4.79827637e-01 -1.24597214e-02  1.71546684e+02]
 [ 4.79774284e-01  8.77362722e-01 -7.16173011e-03  4.14568525e+01]
 [ 1.43680911e-02  3.04947848e-04  9.99896727e-01  5.10545281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.90650248099996
Centerline is valid?  [True, True]
Translation: X:171.60, Y:41.48, Z:5.11
[[ 8.76716629e-01 -4.80845848e-01 -1.24588813e-02  1.71598230e+02]
 [ 4.80792577e-01  8.76805102e-01 -7.16319132e-03  4.14833063e+01]
 [ 1.43684015e-02  2.89951307e-04  9.99896727e-01  5.10628382e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.96650248099996
Centerline is valid?  [True, True]
Translation: X:171.65, Y:41.51, Z:5.11
[[ 8.77484272e-01 -4.79443582e-01 -1.24580658e-02  1.71649380e+02]
 [ 4.79390150e-01  8.77572648e-01 -7.16460923e-03  4.15101739e+01]
 [ 1.43678837e-02  3.14557869e-04  9.99896727e-01  5.10711286e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 180.02650248099997
Centerline is valid?  [True, True]
Translation: X:171.70, Y:41.54, Z:5.11
[[ 8.77461569e-01 -4.79485201e-01 -1.24554237e-02  1.71700951e+02]
 [ 4.79431708e-01  8.77549907e-01 -7.16919960e-03  4.15384645e+01]
 [ 1.43677810e-02  3.19172084e-04  9.99896727e-01  5.10795564e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.08650248099997
Centerline is valid?  [True, True]
Translation: X:171.75, Y:41.57, Z:5.11
[[ 8.76252882e-01 -4.81690566e-01 -1.24533497e-02  1.71751850e+02]
 [ 4.81637244e-01  8.76341324e-01 -7.17280043e-03  4.15682776e+01]
 [ 1.43684553e-02  2.87190036e-04  9.99896727e-01  5.10880149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.14650248099997
Centerline is valid?  [True, True]
Translation: X:171.80, Y:41.60, Z:5.11
[[ 8.77752267e-01 -4.78952908e-01 -1.24526715e-02  1.71802153e+02]
 [ 4.78899294e-01  8.77840532e-01 -7.17397767e-03  4.15971112e+01]
 [ 1.43674572e-02  3.33399585e-04  9.99896727e-01  5.10963419e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.20650248099997
Centerline is valid?  [True, True]
Translation: X:171.85, Y:41.63, Z:5.11
[[ 8.75839584e-01 -4.82441728e-01 -1.24499736e-02  1.71850273e+02]
 [ 4.82388399e-01  8.75928022e-01 -7.17865659e-03  4.16271286e+01]
 [ 1.43685643e-02  2.81628766e-04  9.99896727e-01  5.11044632e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.26650248099997
Centerline is valid?  [True, True]
Translation: X:171.90, Y:41.66, Z:5.11
[[ 8.75304732e-01 -4.83411474e-01 -1.24488226e-02  1.71900229e+02]
 [ 4.83358214e-01  8.75393212e-01 -7.18065204e-03  4.16588042e+01]
 [ 1.43688244e-02  2.68018051e-04  9.99896727e-01  5.11129468e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.32650248099998
Centerline is valid?  [True, True]
Translation: X:171.95, Y:41.69, Z:5.11
[[ 8.74742604e-01 -4.84427973e-01 -1.24465195e-02  1.71950452e+02]
 [ 4.84374759e-01  8.74831111e-01 -7.18464189e-03  4.16898289e+01]
 [ 1.43690440e-02  2.55932469e-04  9.99896727e-01  5.11214063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.38650248099998
Centerline is valid?  [True, True]
Translation: X:172.00, Y:41.72, Z:5.11
[[ 8.73589208e-01 -4.86504919e-01 -1.24442747e-02  1.72000402e+02]
 [ 4.86451860e-01  8.73677808e-01 -7.18852791e-03  4.17221174e+01]
 [ 1.43695409e-02  2.26279820e-04  9.99896727e-01  5.11299233e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.44650248099995
Centerline is valid?  [True, True]
Translation: X:172.05, Y:41.75, Z:5.11
[[ 8.72961709e-01 -4.87630033e-01 -1.24420677e-02  1.72049832e+02]
 [ 4.87577034e-01  8.73050345e-01 -7.19234576e-03  4.17532971e+01]
 [ 1.43697553e-02  2.12175957e-04  9.99896727e-01  5.11382965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.50650248099996
Centerline is valid?  [True, True]
Translation: X:172.10, Y:41.78, Z:5.11
[[ 8.75834621e-01 -4.82450974e-01 -1.24408139e-02  1.72100179e+02]
 [ 4.82397421e-01  8.75922923e-01 -7.19451393e-03  4.17834752e+01]
 [ 1.43681943e-02  2.99787847e-04  9.99896727e-01  5.11467207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.56650248099996
Centerline is valid?  [True, True]
Translation: X:172.15, Y:41.82, Z:5.12
[[ 8.75089921e-01 -4.83800490e-01 -1.24384722e-02  1.72149448e+02]
 [ 4.83747015e-01  8.75178271e-01 -7.19856016e-03  4.18167377e+01]
 [ 1.43685475e-02  2.82313648e-04  9.99896727e-01  5.11552228e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.62650248099996
Centerline is valid?  [True, True]
Translation: X:172.20, Y:41.85, Z:5.12
[[ 8.75634290e-01 -4.82814596e-01 -1.24361173e-02  1.72198270e+02]
 [ 4.82760964e-01  8.75722544e-01 -7.20262609e-03  4.18483444e+01]
 [ 1.43681213e-02  3.03194382e-04  9.99896727e-01  5.11635505e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.68650248099996
Centerline is valid?  [True, True]
Translation: X:172.25, Y:41.88, Z:5.12
[[ 8.76982676e-01 -4.80361110e-01 -1.24334471e-02  1.72248653e+02]
 [ 4.80307165e-01  8.77070740e-01 -7.20723267e-03  4.18793031e+01]
 [ 1.43670869e-02  3.48744477e-04  9.99896727e-01  5.11720229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.74650248099996
Centerline is valid?  [True, True]
Translation: X:172.30, Y:41.91, Z:5.12
[[ 8.76390217e-01 -4.81441227e-01 -1.24310978e-02  1.72296081e+02]
 [ 4.81387333e-01  8.76478313e-01 -7.21128251e-03  4.19131588e+01]
 [ 1.43673963e-02  3.35724442e-04  9.99896727e-01  5.11803399e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.80650248099997
Centerline is valid?  [True, True]
Translation: X:172.35, Y:41.95, Z:5.12
[[ 8.77993571e-01 -4.78511000e-01 -1.24303339e-02  1.72345204e+02]
 [ 4.78456794e-01  8.78081474e-01 -7.21259892e-03  4.19459226e+01]
 [ 1.43661539e-02  3.85237758e-04  9.99896727e-01  5.11888034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.86650248099997
Centerline is valid?  [True, True]
Translation: X:172.39, Y:41.98, Z:5.12
[[ 8.81523142e-01 -4.71977219e-01 -1.24280280e-02  1.72393877e+02]
 [ 4.71922306e-01  8.81610605e-01 -7.21657010e-03  4.19793520e+01]
 [ 1.43627380e-02  4.96509923e-04  9.99896727e-01  5.11972456e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.92650248099997
Centerline is valid?  [True, True]
Translation: X:172.44, Y:42.01, Z:5.12
[[ 8.81960825e-01 -4.71158895e-01 -1.24257567e-02  1.72443495e+02]
 [ 4.71103846e-01  8.82048202e-01 -7.22047877e-03  4.20119000e+01]
 [ 1.43621092e-02  5.14357641e-04  9.99896727e-01  5.12057422e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.98650248099997
Centerline is valid?  [True, True]
Translation: X:172.49, Y:42.04, Z:5.12
[[ 8.82036750e-01 -4.71016803e-01 -1.24234793e-02  1.72493925e+02]
 [ 4.70961684e-01  8.82124084e-01 -7.22439509e-03  4.20429052e+01]
 [ 1.43618618e-02  5.21199229e-04  9.99896727e-01  5.12142285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.04650248099998
Centerline is valid?  [True, True]
Translation: X:172.55, Y:42.07, Z:5.12
[[ 8.81994017e-01 -4.71096879e-01 -1.24211574e-02  1.72545835e+02]
 [ 4.71041713e-01  8.82081320e-01 -7.22838495e-03  4.20711481e+01]
 [ 1.43617405e-02  5.24508994e-04  9.99896727e-01  5.12226988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.10650248099998
Centerline is valid?  [True, True]
Translation: X:172.60, Y:42.10, Z:5.12
[[ 8.81691248e-01 -4.71663343e-01 -1.24191048e-02  1.72597943e+02]
 [ 4.71608183e-01  8.81778555e-01 -7.23190985e-03  4.20987848e+01]
 [ 1.43619271e-02  5.19360157e-04  9.99896727e-01  5.12311518e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.16650248099998
Centerline is valid?  [True, True]
Translation: X:172.65, Y:42.13, Z:5.12
[[ 8.79936338e-01 -4.74929312e-01 -1.24173430e-02  1.72650555e+02]
 [ 4.74874433e-01  8.80023822e-01 -7.23493367e-03  4.21260835e+01]
 [ 1.43636397e-02  4.69602313e-04  9.99896727e-01  5.12396455e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 181.22650248099995
Centerline is valid?  [True, True]
Translation: X:172.70, Y:42.16, Z:5.12
[[ 8.76414121e-01 -4.81398129e-01 -1.24149463e-02  1.72701166e+02]
 [ 4.81343838e-01  8.76501971e-01 -7.23904400e-03  4.21568012e+01]
 [ 1.43665871e-02  3.68542479e-04  9.99896727e-01  5.12481324e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.28650248099996
Centerline is valid?  [True, True]
Translation: X:172.75, Y:42.19, Z:5.13
[[ 8.73441021e-01 -4.86771717e-01 -1.24128412e-02  1.72751373e+02]
 [ 4.86717916e-01  8.73529172e-01 -7.24265182e-03  4.21850167e+01]
 [ 1.43684970e-02  2.84476996e-04  9.99896727e-01  5.12563906e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.34650248099996
Centerline is valid?  [True, True]
Translation: X:172.81, Y:42.21, Z:5.13
[[ 8.76064344e-01 -4.82034446e-01 -1.24120338e-02  1.72805554e+02]
 [ 4.81980149e-01  8.76152190e-01 -7.24403525e-03  4.22080309e+01]
 [ 1.43667051e-02  3.63887095e-04  9.99896727e-01  5.12647764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.40650248099996
Centerline is valid?  [True, True]
Translation: X:172.86, Y:42.24, Z:5.13
[[ 8.77015979e-01 -4.80300910e-01 -1.24099782e-02  1.72856581e+02]
 [ 4.80246389e-01  8.77103687e-01 -7.24755511e-03  4.22355445e+01]
 [ 1.43658449e-02  3.96374437e-04  9.99896727e-01  5.12730855e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.46650248099996
Centerline is valid?  [True, True]
Translation: X:172.91, Y:42.26, Z:5.13
[[ 8.79233463e-01 -4.76229494e-01 -1.24091507e-02  1.72907676e+02]
 [ 4.76174547e-01  8.79320904e-01 -7.24897163e-03  4.22640613e+01]
 [ 1.43637997e-02  4.64616716e-04  9.99896727e-01  5.12814867e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.52650248099997
Centerline is valid?  [True, True]
Translation: X:172.96, Y:42.30, Z:5.13
[[ 8.79969396e-01 -4.74868303e-01 -1.24079726e-02  1.72956695e+02]
 [ 4.74813192e-01  8.80056734e-01 -7.25098759e-03  4.22950177e+01]
 [ 1.43629840e-02  4.89178087e-04  9.99896727e-01  5.12898039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.58650248099997
Centerline is valid?  [True, True]
Translation: X:173.01, Y:42.32, Z:5.13
[[ 8.81490556e-01 -4.72038633e-01 -1.24067818e-02  1.73008768e+02]
 [ 4.71983213e-01  8.81577700e-01 -7.25302459e-03  4.23239372e+01]
 [ 1.43612499e-02  5.37679965e-04  9.99896727e-01  5.12983523e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.64650248099997
Centerline is valid?  [True, True]
Translation: X:173.06, Y:42.35, Z:5.13
[[ 8.81295733e-01 -4.72402325e-01 -1.24046378e-02  1.73061553e+02]
 [ 4.72346889e-01  8.81382866e-01 -7.25668954e-03  4.23511972e+01]
 [ 1.43613122e-02  5.35997458e-04  9.99896727e-01  5.13068600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.70650248099997
Centerline is valid?  [True, True]
Translation: X:173.11, Y:42.38, Z:5.13
[[ 8.81117532e-01 -4.72734680e-01 -1.24022994e-02  1.73112259e+02]
 [ 4.72679222e-01  8.81204650e-01 -7.26068386e-03  4.23784962e+01]
 [ 1.43613409e-02  5.35206625e-04  9.99896727e-01  5.13151106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.76650248099997
Centerline is valid?  [True, True]
Translation: X:173.16, Y:42.41, Z:5.13
[[ 8.81367444e-01 -4.72268602e-01 -1.24014822e-02  1.73164637e+02]
 [ 4.72213078e-01  8.81454520e-01 -7.26207928e-03  4.24063295e+01]
 [ 1.43609946e-02  5.44418151e-04  9.99896727e-01  5.13236210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.82650248099998
Centerline is valid?  [True, True]
Translation: X:173.22, Y:42.43, Z:5.13
[[ 8.80236775e-01 -4.74372724e-01 -1.23991706e-02  1.73217340e+02]
 [ 4.74317353e-01  8.80323948e-01 -7.26602407e-03  4.24337411e+01]
 [ 1.43620904e-02  5.14679831e-04  9.99896727e-01  5.13321273e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.88650248099998
Centerline is valid?  [True, True]
Translation: X:173.27, Y:42.46, Z:5.13
[[ 8.78786176e-01 -4.77054688e-01 -1.23968077e-02  1.73267732e+02]
 [ 4.76999526e-01  8.78873483e-01 -7.27005320e-03  4.24620584e+01]
 [ 1.43634385e-02  4.75550856e-04  9.99896727e-01  5.13404122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.94650248099995
Centerline is valid?  [True, True]
Translation: X:173.32, Y:42.49, Z:5.13
[[ 8.76155231e-01 -4.81869637e-01 -1.23960908e-02  1.73320244e+02]
 [ 4.81814938e-01  8.76242828e-01 -7.27127543e-03  4.24884754e+01]
 [ 1.43657925e-02  3.98144300e-04  9.99896727e-01  5.13488368e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.00650248099996
Centerline is valid?  [True, True]
Translation: X:173.37, Y:42.52, Z:5.14
[[ 8.73691604e-01 -4.86322296e-01 -1.23937701e-02  1.73373120e+02]
 [ 4.86267987e-01  8.73779444e-01 -7.27522877e-03  4.25157357e+01]
 [ 1.43675275e-02  3.29612643e-04  9.99896727e-01  5.13573528e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.06650248099996
Centerline is valid?  [True, True]
Translation: X:173.43, Y:42.54, Z:5.14
[[ 8.73543583e-01 -4.86588181e-01 -1.23915528e-02  1.73425076e+02]
 [ 4.86533846e-01  8.73631406e-01 -7.27900352e-03  4.25434885e+01]
 [ 1.43675268e-02  3.29616989e-04  9.99896727e-01  5.13657913e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.12650248099996
Centerline is valid?  [True, True]
Translation: X:173.48, Y:42.57, Z:5.14
[[ 8.72755637e-01 -4.88000110e-01 -1.23891787e-02  1.73475106e+02]
 [ 4.87945859e-01  8.72843512e-01 -7.28304210e-03  4.25725400e+01]
 [ 1.43679396e-02  3.11067610e-04  9.99896727e-01  5.13740841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.18650248099996
Centerline is valid?  [True, True]
Translation: X:173.52, Y:42.60, Z:5.14
[[ 8.71932941e-01 -4.89468578e-01 -1.23878463e-02  1.73523940e+02]
 [ 4.89414443e-01  8.72020887e-01 -7.28530758e-03  4.26034580e+01]
 [ 1.43683899e-02  2.89508748e-04  9.99896727e-01  5.13823745e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.24650248099996
Centerline is valid?  [True, True]
Translation: X:173.57, Y:42.63, Z:5.14
[[ 8.72536608e-01 -4.88391722e-01 -1.23852070e-02  1.73574303e+02]
 [ 4.88337415e-01  8.72624448e-01 -7.28979173e-03  4.26342445e+01]
 [ 1.43679084e-02  3.12450159e-04  9.99896727e-01  5.13908325e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.30650248099997
Centerline is valid?  [True, True]
Translation: X:173.63, Y:42.66, Z:5.14
[[ 8.73551554e-01 -4.86574091e-01 -1.23829201e-02  1.73625108e+02]
 [ 4.86519546e-01  8.73639247e-01 -7.29367444e-03  4.26639226e+01]
 [ 1.43671180e-02  3.46867999e-04  9.99896727e-01  5.13992679e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.36650248099997
Centerline is valid?  [True, True]
Translation: X:173.68, Y:42.69, Z:5.14
[[ 8.74457155e-01 -4.84944742e-01 -1.23806535e-02  1.73675946e+02]
 [ 4.84889979e-01  8.74544712e-01 -7.29751988e-03  4.26929587e+01]
 [ 1.43663289e-02  3.78113678e-04  9.99896727e-01  5.14076607e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 182.42650248099997
Centerline is valid?  [True, True]
Translation: X:173.73, Y:42.72, Z:5.14
[[ 8.75416913e-01 -4.83210069e-01 -1.23797166e-02  1.73727194e+02]
 [ 4.83155110e-01  8.75504348e-01 -7.29910876e-03  4.27224218e+01]
 [ 1.43654986e-02  4.08439903e-04  9.99896727e-01  5.14161477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.48650248099997
Centerline is valid?  [True, True]
Translation: X:173.78, Y:42.75, Z:5.14
[[ 8.76505034e-01 -4.81233547e-01 -1.23773381e-02  1.73779371e+02]
 [ 4.81178335e-01  8.76592308e-01 -7.30313989e-03  4.27502028e+01]
 [ 1.43643953e-02  4.45531935e-04  9.99896727e-01  5.14246134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.54650248099998
Centerline is valid?  [True, True]
Translation: X:173.83, Y:42.78, Z:5.14
[[ 8.75164318e-01 -4.83667526e-01 -1.23750073e-02  1.73830517e+02]
 [ 4.83612500e-01  8.75251710e-01 -7.30708725e-03  4.27790153e+01]
 [ 1.43654471e-02  4.10193801e-04  9.99896728e-01  5.14330270e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.60650248099998
Centerline is valid?  [True, True]
Translation: X:173.88, Y:42.81, Z:5.14
[[ 8.73838359e-01 -4.86059087e-01 -1.23728211e-02  1.73883406e+02]
 [ 4.86004249e-01  8.73925868e-01 -7.31078722e-03  4.28060428e+01]
 [ 1.43664030e-02  3.75202685e-04  9.99896728e-01  5.14415271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.66650248099995
Centerline is valid?  [True, True]
Translation: X:173.93, Y:42.84, Z:5.14
[[ 8.71230188e-01 -4.90718791e-01 -1.23704521e-02  1.73934718e+02]
 [ 4.90664363e-01  8.71317954e-01 -7.31479357e-03  4.28353531e+01]
 [ 1.43681037e-02  3.03128983e-04  9.99896728e-01  5.14499971e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.72650248099995
Centerline is valid?  [True, True]
Translation: X:173.99, Y:42.86, Z:5.15
[[ 8.68770361e-01 -4.95060692e-01 -1.23681262e-02  1.73986091e+02]
 [ 4.95006647e-01  8.68858363e-01 -7.31872414e-03  4.28623729e+01]
 [ 1.43693625e-02  2.35985933e-04  9.99896728e-01  5.14583072e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.78650248099996
Centerline is valid?  [True, True]
Translation: X:174.04, Y:42.89, Z:5.15
[[ 8.68964260e-01 -4.94720290e-01 -1.23672614e-02  1.74037572e+02]
 [ 4.94666190e-01  8.69052228e-01 -7.32018527e-03  4.28914175e+01]
 [ 1.43692402e-02  2.43313310e-04  9.99896728e-01  5.14667927e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.84650248099996
Centerline is valid?  [True, True]
Translation: X:174.09, Y:42.92, Z:5.15
[[ 8.67390849e-01 -4.97473845e-01 -1.23648095e-02  1.74089261e+02]
 [ 4.97419965e-01  8.67478952e-01 -7.32432453e-03  4.29208833e+01]
 [ 1.43698718e-02  2.02548979e-04  9.99896728e-01  5.14753195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.90650248099996
Centerline is valid?  [True, True]
Translation: X:174.14, Y:42.95, Z:5.15
[[ 8.68495116e-01 -4.95543540e-01 -1.23625943e-02  1.74141835e+02]
 [ 4.95489411e-01  8.68583066e-01 -7.32806164e-03  4.29466039e+01]
 [ 1.43693136e-02  2.38851192e-04  9.99896728e-01  5.14836834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.96650248099996
Centerline is valid?  [True, True]
Translation: X:174.19, Y:42.98, Z:5.15
[[ 8.70280522e-01 -4.92401296e-01 -1.23602883e-02  1.74193355e+02]
 [ 4.92346794e-01  8.70368242e-01 -7.33194909e-03  4.29752086e+01]
 [ 1.43682636e-02  2.95304174e-04  9.99896728e-01  5.14921273e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.02650248099997
Centerline is valid?  [True, True]
Translation: X:174.24, Y:43.01, Z:5.15
[[ 8.72341130e-01 -4.88741480e-01 -1.23579731e-02  1.74243031e+02]
 [ 4.88686555e-01  8.72428585e-01 -7.33584916e-03  4.30071377e+01]
 [ 1.43667828e-02  3.60187620e-04  9.99896728e-01  5.15005869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.08650248099997
Centerline is valid?  [True, True]
Translation: X:174.30, Y:43.03, Z:5.15
[[ 8.76923621e-01 -4.80470917e-01 -1.23556222e-02  1.74296251e+02]
 [ 4.80415112e-01  8.77010517e-01 -7.33980676e-03  4.30327342e+01]
 [ 1.43625743e-02  5.00622313e-04  9.99896728e-01  5.15090193e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.14650248099997
Centerline is valid?  [True, True]
Translation: X:174.34, Y:43.06, Z:5.15
[[ 8.77439714e-01 -4.79527838e-01 -1.23531535e-02  1.74344849e+02]
 [ 4.79471881e-01  8.77526513e-01 -7.34395929e-03  4.30641943e+01]
 [ 1.43618526e-02  5.20891815e-04  9.99896728e-01  5.15173099e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.20650248099997
Centerline is valid?  [True, True]
Translation: X:174.40, Y:43.09, Z:5.15
[[ 8.79791138e-01 -4.75199930e-01 -1.23523145e-02  1.74397610e+02]
 [ 4.75143527e-01  8.79877647e-01 -7.34537008e-03  4.30914334e+01]
 [ 1.43590448e-02  5.93269214e-04  9.99896728e-01  5.15258206e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.26650248099997
Centerline is valid?  [True, True]
Translation: X:174.45, Y:43.12, Z:5.15
[[ 8.79196072e-01 -4.76300058e-01 -1.23499945e-02  1.74448248e+02]
 [ 4.76243708e-01  8.79282616e-01 -7.34926874e-03  4.31213923e+01]
 [ 1.43595926e-02  5.79841033e-04  9.99896728e-01  5.15342542e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.32650248099998
Centerline is valid?  [True, True]
Translation: X:174.50, Y:43.15, Z:5.15
[[ 8.82060555e-01 -4.70974217e-01 -1.23476463e-02  1.74501816e+02]
 [ 4.70917290e-01  8.82146721e-01 -7.35321196e-03  4.31478249e+01]
 [ 1.43556089e-02  6.71258117e-04  9.99896728e-01  5.15427901e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.38650248099998
Centerline is valid?  [True, True]
Translation: X:174.55, Y:43.18, Z:5.16
[[ 8.80237417e-01 -4.74372934e-01 -1.23454415e-02  1.74551250e+02]
 [ 4.74316288e-01  8.80323767e-01 -7.35691175e-03  4.31790250e+01]
 [ 1.43579054e-02  6.20185025e-04  9.99896728e-01  5.15511674e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.44650248099995
Centerline is valid?  [True, True]
Translation: X:174.60, Y:43.21, Z:5.16
[[ 8.80275368e-01 -4.74302567e-01 -1.23430764e-02  1.74600890e+02]
 [ 4.74245858e-01  8.80361678e-01 -7.36087768e-03  4.32101834e+01]
 [ 1.43576546e-02  6.25946460e-04  9.99896728e-01  5.15595656e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.50650248099996
Centerline is valid?  [True, True]
Translation: X:174.65, Y:43.25, Z:5.16
[[ 8.78570257e-01 -4.77453674e-01 -1.23406954e-02  1.74648121e+02]
 [ 4.77397220e-01  8.78656732e-01 -7.36486734e-03  4.32452750e+01]
 [ 1.43596180e-02  5.79139736e-04  9.99896728e-01  5.15679560e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.56650248099996
Centerline is valid?  [True, True]
Translation: X:174.70, Y:43.28, Z:5.16
[[ 8.74286928e-01 -4.85252634e-01 -1.23389240e-02  1.74695358e+02]
 [ 4.85196909e-01  8.74373876e-01 -7.36783385e-03  4.32814587e+01]
 [ 1.43640936e-02  4.54793038e-04  9.99896728e-01  5.15764341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 183.62650248099996
Centerline is valid?  [True, True]
Translation: X:174.74, Y:43.32, Z:5.16
[[ 8.72701149e-01 -4.88098874e-01 -1.23366603e-02  1.74742391e+02]
 [ 4.88043380e-01  8.72788244e-01 -7.37162220e-03  4.33158924e+01]
 [ 1.43653726e-02  4.12397777e-04  9.99896728e-01  5.15847540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.68650248099996
Centerline is valid?  [True, True]
Translation: X:174.79, Y:43.35, Z:5.16
[[ 8.70952991e-01 -4.91211476e-01 -1.23358438e-02  1.74790014e+02]
 [ 4.91156273e-01  8.71040271e-01 -7.37298837e-03  4.33516952e+01]
 [ 1.43667132e-02  3.62699229e-04  9.99896728e-01  5.15932615e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.74650248099996
Centerline is valid?  [True, True]
Translation: X:174.83, Y:43.39, Z:5.16
[[ 8.70902037e-01 -4.91301866e-01 -1.23336251e-02  1.74832547e+02]
 [ 4.91246620e-01  8.70989290e-01 -7.37669797e-03  4.33927812e+01]
 [ 1.43666408e-02  3.65529666e-04  9.99896728e-01  5.16015183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.80650248099997
Centerline is valid?  [True, True]
Translation: X:174.88, Y:43.43, Z:5.16
[[ 8.71435823e-01 -4.90354473e-01 -1.23327891e-02  1.74878912e+02]
 [ 4.90299112e-01  8.71523003e-01 -7.37809527e-03  4.34291393e+01]
 [ 1.43661914e-02  3.82780960e-04  9.99896728e-01  5.16099121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.86650248099997
Centerline is valid?  [True, True]
Translation: X:174.92, Y:43.47, Z:5.16
[[ 8.71480932e-01 -4.90274322e-01 -1.23318355e-02  1.74922276e+02]
 [ 4.90218930e-01  8.71568093e-01 -7.37968887e-03  4.34712354e+01]
 [ 1.43661063e-02  3.85958933e-04  9.99896728e-01  5.16183586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.92650248099997
Centerline is valid?  [True, True]
Translation: X:174.97, Y:43.51, Z:5.16
[[ 8.70489185e-01 -4.92033093e-01 -1.23293960e-02  1.74969492e+02]
 [ 4.91977820e-01  8.70576421e-01 -7.38376230e-03  4.35073680e+01]
 [ 1.43667369e-02  3.61695848e-04  9.99896728e-01  5.16268276e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.98650248099997
Centerline is valid?  [True, True]
Translation: X:175.02, Y:43.55, Z:5.16
[[ 8.69082912e-01 -4.94512829e-01 -1.23269820e-02  1.75015343e+02]
 [ 4.94457748e-01  8.69170269e-01 -7.38779016e-03  4.35455945e+01]
 [ 1.43676033e-02  3.25430399e-04  9.99896728e-01  5.16352840e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.04650248099998
Centerline is valid?  [True, True]
Translation: X:175.06, Y:43.58, Z:5.16
[[ 8.68364455e-01 -4.95773413e-01 -1.23245993e-02  1.75062415e+02]
 [ 4.95718403e-01  8.68451856e-01 -7.39176292e-03  4.35809906e+01]
 [ 1.43679607e-02  3.09213478e-04  9.99896728e-01  5.16436827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.10650248099998
Centerline is valid?  [True, True]
Translation: X:175.11, Y:43.62, Z:5.17
[[ 8.66927525e-01 -4.98281878e-01 -1.23222105e-02  1.75110237e+02]
 [ 4.98227064e-01  8.67015049e-01 -7.39574308e-03  4.36158812e+01]
 [ 1.43687067e-02  2.72314492e-04  9.99896728e-01  5.16521370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.16650248099995
Centerline is valid?  [True, True]
Translation: X:175.16, Y:43.65, Z:5.17
[[ 8.65361974e-01 -5.00995883e-01 -1.23198495e-02  1.75158000e+02]
 [ 5.00941287e-01  8.65449636e-01 -7.39967397e-03  4.36508460e+01]
 [ 1.43694154e-02  2.31875234e-04  9.99896728e-01  5.16605902e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.22650248099995
Centerline is valid?  [True, True]
Translation: X:175.21, Y:43.69, Z:5.17
[[ 8.65117602e-01 -5.01417803e-01 -1.23175593e-02  1.75205393e+02]
 [ 5.01363196e-01  8.65205256e-01 -7.40348426e-03  4.36869639e+01]
 [ 1.43694558e-02  2.29313654e-04  9.99896728e-01  5.16690843e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.28650248099996
Centerline is valid?  [True, True]
Translation: X:175.25, Y:43.72, Z:5.17
[[ 8.65688893e-01 -5.00430889e-01 -1.23152250e-02  1.75254988e+02]
 [ 5.00376127e-01  8.65776451e-01 -7.40736516e-03  4.37187277e+01]
 [ 1.43691061e-02  2.50229159e-04  9.99896728e-01  5.16775272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.34650248099996
Centerline is valid?  [True, True]
Translation: X:175.30, Y:43.75, Z:5.17
[[ 8.67730300e-01 -4.96882804e-01 -1.23127968e-02  1.75302365e+02]
 [ 4.96827627e-01  8.67817596e-01 -7.41139915e-03  4.37531769e+01]
 [ 1.43678585e-02  3.13757979e-04  9.99896728e-01  5.16858955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.40650248099996
Centerline is valid?  [True, True]
Translation: X:175.35, Y:43.79, Z:5.17
[[ 8.71630084e-01 -4.90009604e-01 -1.23119248e-02  1.75350102e+02]
 [ 4.89953718e-01  8.71716929e-01 -7.41284751e-03  4.37881173e+01]
 [ 1.43648797e-02  4.28987571e-04  9.99896728e-01  5.16943570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.46650248099996
Centerline is valid?  [True, True]
Translation: X:175.40, Y:43.82, Z:5.17
[[ 8.75499460e-01 -4.83062284e-01 -1.23095514e-02  1.75399650e+02]
 [ 4.83005653e-01  8.75585821e-01 -7.41678664e-03  4.38198012e+01]
 [ 1.43608385e-02  5.47809797e-04  9.99896728e-01  5.17027886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.52650248099997
Centerline is valid?  [True, True]
Translation: X:175.45, Y:43.85, Z:5.17
[[ 8.76125693e-01 -4.81925577e-01 -1.23088781e-02  1.75447381e+02]
 [ 4.81868819e-01  8.76211970e-01 -7.41790380e-03  4.38542206e+01]
 [ 1.43600639e-02  5.67751544e-04  9.99896728e-01  5.17112128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.58650248099997
Centerline is valid?  [True, True]
Translation: X:175.50, Y:43.88, Z:5.17
[[ 8.77794436e-01 -4.78879402e-01 -1.23064075e-02  1.75497263e+02]
 [ 4.78822287e-01  8.77880477e-01 -7.42200040e-03  4.38838369e+01]
 [ 1.43577980e-02  6.22408486e-04  9.99896728e-01  5.17195316e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.64650248099997
Centerline is valid?  [True, True]
Translation: X:175.55, Y:43.91, Z:5.17
[[ 8.78038753e-01 -4.78431313e-01 -1.23056036e-02  1.75546798e+02]
 [ 4.78374136e-01  8.78124752e-01 -7.42333298e-03  4.39143351e+01]
 [ 1.43574100e-02  6.31291554e-04  9.99896728e-01  5.17278860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.70650248099997
Centerline is valid?  [True, True]
Translation: X:175.60, Y:43.94, Z:5.17
[[ 8.78708283e-01 -4.77200578e-01 -1.23029050e-02  1.75598388e+02]
 [ 4.77143218e-01  8.78794161e-01 -7.42780278e-03  4.39438423e+01]
 [ 1.43562728e-02  6.56624158e-04  9.99896728e-01  5.17364053e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.76650248099997
Centerline is valid?  [True, True]
Translation: X:175.65, Y:43.97, Z:5.17
[[ 8.78100567e-01 -4.78317977e-01 -1.23007238e-02  1.75649485e+02]
 [ 4.78260676e-01  8.78186484e-01 -7.43141313e-03  4.39738386e+01]
 [ 1.43569079e-02  6.42575603e-04  9.99896728e-01  5.17449040e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 184.82650248099998
Centerline is valid?  [True, True]
Translation: X:175.70, Y:44.00, Z:5.18
[[ 8.80150400e-01 -4.74535585e-01 -1.22984968e-02  1.75702358e+02]
 [ 4.74477863e-01  8.80236035e-01 -7.43509676e-03  4.40006550e+01]
 [ 1.43537981e-02  7.08638876e-04  9.99896728e-01  5.17533844e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.88650248099998
Centerline is valid?  [True, True]
Translation: X:175.75, Y:44.03, Z:5.18
[[ 8.77145493e-01 -4.80067239e-01 -1.22975592e-02  1.75752633e+02]
 [ 4.80010036e-01  8.77231475e-01 -7.43664737e-03  4.40312871e+01]
 [ 1.43578967e-02  6.20069910e-04  9.99896728e-01  5.17618386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.94650248099995
Centerline is valid?  [True, True]
Translation: X:175.80, Y:44.06, Z:5.18
[[ 8.73294266e-01 -4.87037903e-01 -1.22966167e-02  1.75804843e+02]
 [ 4.86981364e-01  8.73380687e-01 -7.43820549e-03  4.40600961e+01]
 [ 1.43623155e-02  5.07519043e-04  9.99896728e-01  5.17703951e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.00650248099996
Centerline is valid?  [True, True]
Translation: X:175.86, Y:44.08, Z:5.18
[[ 8.74492297e-01 -4.84883565e-01 -1.22943630e-02  1.75857793e+02]
 [ 4.84826762e-01  8.74578543e-01 -7.44192858e-03  4.40838637e+01]
 [ 1.43608550e-02  5.47273002e-04  9.99896728e-01  5.17786571e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.06650248099996
Centerline is valid?  [True, True]
Translation: X:175.91, Y:44.11, Z:5.18
[[ 8.76043170e-01 -4.82075962e-01 -1.22935114e-02  1.75908942e+02]
 [ 4.82018863e-01  8.76129221e-01 -7.44333511e-03  4.41130446e+01]
 [ 1.43589575e-02  5.94978490e-04  9.99896728e-01  5.17871114e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.12650248099996
Centerline is valid?  [True, True]
Translation: X:175.96, Y:44.14, Z:5.18
[[ 8.73857635e-01 -4.86026493e-01 -1.22915295e-02  1.75958964e+02]
 [ 4.85969737e-01  8.73943913e-01 -7.44660653e-03  4.41417454e+01]
 [ 1.43613554e-02  5.33962633e-04  9.99896728e-01  5.17953823e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.18650248099996
Centerline is valid?  [True, True]
Translation: X:176.01, Y:44.17, Z:5.18
[[ 8.76128152e-01 -4.81921571e-01 -1.22907079e-02  1.76012061e+02]
 [ 4.81864391e-01  8.76214150e-01 -7.44796224e-03  4.41675201e+01]
 [ 1.43586259e-02  6.02914893e-04  9.99896728e-01  5.18038223e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.24650248099996
Centerline is valid?  [True, True]
Translation: X:176.06, Y:44.20, Z:5.18
[[ 8.75191588e-01 -4.83620367e-01 -1.22892047e-02  1.76063770e+02]
 [ 4.83563320e-01  8.75277674e-01 -7.45044180e-03  4.41961231e+01]
 [ 1.43596519e-02  5.77955369e-04  9.99896728e-01  5.18122967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.30650248099997
Centerline is valid?  [True, True]
Translation: X:176.12, Y:44.22, Z:5.18
[[ 8.71620757e-01 -4.90026814e-01 -1.22873277e-02  1.76115745e+02]
 [ 4.89970356e-01  8.71707230e-01 -7.45353611e-03  4.42249407e+01]
 [ 1.43633849e-02  4.76230481e-04  9.99896728e-01  5.18208167e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.36650248099997
Centerline is valid?  [True, True]
Translation: X:176.17, Y:44.25, Z:5.18
[[ 8.69052142e-01 -4.94567944e-01 -1.22850926e-02  1.76166832e+02]
 [ 4.94511887e-01  8.69138875e-01 -7.45721810e-03  4.42549883e+01]
 [ 1.43655526e-02  4.05587019e-04  9.99896728e-01  5.18293162e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.42650248099997
Centerline is valid?  [True, True]
Translation: X:176.22, Y:44.28, Z:5.18
[[ 8.70884369e-01 -4.91334462e-01 -1.22826138e-02  1.76217964e+02]
 [ 4.91278025e-01  8.70970855e-01 -7.46129867e-03  4.42826367e+01]
 [ 1.43637918e-02  4.63750116e-04  9.99896728e-01  5.18376401e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.48650248099997
Centerline is valid?  [True, True]
Translation: X:176.27, Y:44.31, Z:5.18
[[ 8.69046732e-01 -4.94577532e-01 -1.22817693e-02  1.76269072e+02]
 [ 4.94521398e-01  8.69133416e-01 -7.46268862e-03  4.43127049e+01]
 [ 1.43653742e-02  4.11827445e-04  9.99896728e-01  5.18461549e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.54650248099998
Centerline is valid?  [True, True]
Translation: X:176.32, Y:44.34, Z:5.19
[[ 8.63300404e-01 -5.04541003e-01 -1.22795897e-02  1.76318240e+02]
 [ 5.04485819e-01  8.63387696e-01 -7.46627328e-03  4.43448375e+01]
 [ 1.43690877e-02  2.50757862e-04  9.99896728e-01  5.18545746e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.60650248099998
Centerline is valid?  [True, True]
Translation: X:176.37, Y:44.37, Z:5.19
[[ 8.66936255e-01 -4.98267798e-01 -1.22772728e-02  1.76369330e+02]
 [ 4.98211929e-01  8.67023109e-01 -7.47008122e-03  4.43717823e+01]
 [ 1.43667801e-02  3.59400488e-04  9.99896728e-01  5.18628417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.66650248099995
Centerline is valid?  [True, True]
Translation: X:176.42, Y:44.41, Z:5.19
[[ 8.59785526e-01 -5.10507734e-01 -1.22760877e-02  1.76416442e+02]
 [ 5.10453074e-01  8.59873147e-01 -7.47202829e-03  4.44076789e+01]
 [ 1.43704064e-02  1.57975096e-04  9.99896728e-01  5.18712986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.72650248099995
Centerline is valid?  [True, True]
Translation: X:176.47, Y:44.44, Z:5.19
[[ 8.61091799e-01 -5.08301358e-01 -1.22736815e-02  1.76465103e+02]
 [ 5.08246417e-01  8.61179244e-01 -7.47597860e-03  4.44414679e+01]
 [ 1.43698898e-02  1.99449218e-04  9.99896728e-01  5.18797783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.78650248099996
Centerline is valid?  [True, True]
Translation: X:176.51, Y:44.48, Z:5.19
[[ 8.63149021e-01 -5.04800142e-01 -1.22712869e-02  1.76512098e+02]
 [ 5.04744791e-01  8.63236206e-01 -7.47990708e-03  4.44766699e+01]
 [ 1.43688773e-02  2.62406325e-04  9.99896728e-01  5.18881599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.84650248099996
Centerline is valid?  [True, True]
Translation: X:176.56, Y:44.51, Z:5.19
[[ 8.62925225e-01 -5.05182640e-01 -1.22701681e-02  1.76561215e+02]
 [ 5.05127301e-01  8.63012418e-01 -7.48174188e-03  4.45094351e+01]
 [ 1.43689536e-02  2.58186883e-04  9.99896728e-01  5.18966300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.90650248099996
Centerline is valid?  [True, True]
Translation: X:176.61, Y:44.54, Z:5.19
[[ 8.61964264e-01 -5.06820591e-01 -1.22677001e-02  1.76608750e+02]
 [ 5.06765360e-01  8.62051526e-01 -7.48578643e-03  4.45424745e+01]
 [ 1.43693403e-02  2.35634903e-04  9.99896728e-01  5.19049160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.96650248099996
Centerline is valid?  [True, True]
Translation: X:176.66, Y:44.57, Z:5.19
[[ 8.60860823e-01 -5.08692607e-01 -1.22668384e-02  1.76657886e+02]
 [ 5.08637546e-01  8.60948192e-01 -7.48719825e-03  4.45742881e+01]
 [ 1.43697948e-02  2.06061055e-04  9.99896728e-01  5.19133195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 186.02650248099997
Centerline is valid?  [True, True]
Translation: X:176.71, Y:44.61, Z:5.19
[[ 8.60164062e-01 -5.09869948e-01 -1.22647179e-02  1.76707372e+02]
 [ 5.09814957e-01  8.60251475e-01 -7.49067025e-03  4.46070670e+01]
 [ 1.43700093e-02  1.90468717e-04  9.99896728e-01  5.19218284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.08650248099997
Centerline is valid?  [True, True]
Translation: X:176.76, Y:44.64, Z:5.19
[[ 8.58951582e-01 -5.11909940e-01 -1.22635384e-02  1.76756073e+02]
 [ 5.11855128e-01  8.59039108e-01 -7.49260084e-03  4.46409009e+01]
 [ 1.43703959e-02  1.58626327e-04  9.99896728e-01  5.19303276e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.14650248099997
Centerline is valid?  [True, True]
Translation: X:176.81, Y:44.67, Z:5.19
[[ 8.60797757e-01 -5.08799458e-01 -1.22610764e-02  1.76805958e+02]
 [ 5.08744273e-01  8.60885048e-01 -7.49662752e-03  4.46731659e+01]
 [ 1.43696574e-02  2.15327747e-04  9.99896728e-01  5.19388447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.20650248099997
Centerline is valid?  [True, True]
Translation: X:176.85, Y:44.70, Z:5.19
[[ 8.59893176e-01 -5.10326808e-01 -1.22586234e-02  1.76854930e+02]
 [ 5.10271721e-01  8.59980529e-01 -7.50063659e-03  4.47045391e+01]
 [ 1.43699534e-02  1.94517367e-04  9.99896728e-01  5.19471833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.26650248099997
Centerline is valid?  [True, True]
Translation: X:176.90, Y:44.74, Z:5.20
[[ 8.60477611e-01 -5.09340788e-01 -1.22573415e-02  1.76902160e+02]
 [ 5.09285571e-01  8.60564882e-01 -7.50273080e-03  4.47376811e+01]
 [ 1.43696845e-02  2.13444695e-04  9.99896728e-01  5.19554499e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.32650248099998
Centerline is valid?  [True, True]
Translation: X:176.95, Y:44.77, Z:5.20
[[ 8.59646501e-01 -5.10742275e-01 -1.22565035e-02  1.76948186e+02]
 [ 5.10687181e-01  8.59733849e-01 -7.50409959e-03  4.47727064e+01]
 [ 1.43699918e-02  1.91633745e-04  9.99896728e-01  5.19637139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.38650248099998
Centerline is valid?  [True, True]
Translation: X:176.99, Y:44.81, Z:5.20
[[ 8.60934637e-01 -5.08567954e-01 -1.22550660e-02  1.76994070e+02]
 [ 5.08512606e-01  8.61021825e-01 -7.50644634e-03  4.48080305e+01]
 [ 1.43694174e-02  2.30704087e-04  9.99896728e-01  5.19719787e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.44650248099995
Centerline is valid?  [True, True]
Translation: X:177.04, Y:44.84, Z:5.20
[[ 8.61334756e-01 -5.07890028e-01 -1.22538680e-02  1.77042499e+02]
 [ 5.07834584e-01  8.61421882e-01 -7.50840156e-03  4.48412327e+01]
 [ 1.43691923e-02  2.44309269e-04  9.99896728e-01  5.19803982e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.50650248099996
Centerline is valid?  [True, True]
Translation: X:177.09, Y:44.87, Z:5.20
[[ 8.67132661e-01 -4.97926548e-01 -1.22516020e-02  1.77092290e+02]
 [ 4.97870050e-01  8.67219108e-01 -7.51209728e-03  4.48701561e+01]
 [ 1.43652960e-02  4.14279217e-04  9.99896728e-01  5.19886553e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.56650248099996
Centerline is valid?  [True, True]
Translation: X:177.14, Y:44.91, Z:5.20
[[ 8.59544743e-01 -5.10913648e-01 -1.22506904e-02  1.77137728e+02]
 [ 5.10858436e-01  8.59632017e-01 -7.51358350e-03  4.49078753e+01]
 [ 1.43698781e-02  1.99892635e-04  9.99896728e-01  5.19970501e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.62650248099996
Centerline is valid?  [True, True]
Translation: X:177.19, Y:44.94, Z:5.20
[[ 8.63869973e-01 -5.03565927e-01 -1.22485414e-02  1.77187910e+02]
 [ 5.03509924e-01  8.63956741e-01 -7.51708523e-03  4.49371975e+01]
 [ 1.43675579e-02  3.26522077e-04  9.99896728e-01  5.20053862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.68650248099996
Centerline is valid?  [True, True]
Translation: X:177.24, Y:44.97, Z:5.20
[[ 8.62680147e-01 -5.05601628e-01 -1.22457587e-02  1.77236077e+02]
 [ 5.05545764e-01  8.62767005e-01 -7.52161573e-03  4.49713582e+01]
 [ 1.43681777e-02  2.97957146e-04  9.99896728e-01  5.20138349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.74650248099996
Centerline is valid?  [True, True]
Translation: X:177.28, Y:45.01, Z:5.20
[[ 8.60198994e-01 -5.09811523e-01 -1.22434143e-02  1.77282823e+02]
 [ 5.09756031e-01  8.60286090e-01 -7.52542980e-03  4.50087217e+01]
 [ 1.43693899e-02  2.32212848e-04  9.99896728e-01  5.20223541e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.80650248099997
Centerline is valid?  [True, True]
Translation: X:177.33, Y:45.04, Z:5.20
[[ 8.59984882e-01 -5.10172673e-01 -1.22411947e-02  1.77330978e+02]
 [ 5.10117165e-01  8.60071969e-01 -7.52903868e-03  4.50431367e+01]
 [ 1.43694182e-02  2.30415917e-04  9.99896728e-01  5.20308253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.86650248099997
Centerline is valid?  [True, True]
Translation: X:177.38, Y:45.08, Z:5.20
[[ 8.58213943e-01 -5.13146215e-01 -1.22388886e-02  1.77378457e+02]
 [ 5.13090957e-01  8.58301187e-01 -7.53278547e-03  4.50787822e+01]
 [ 1.43700730e-02  1.85078460e-04  9.99896728e-01  5.20393062e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.92650248099997
Centerline is valid?  [True, True]
Translation: X:177.43, Y:45.11, Z:5.20
[[ 8.57610192e-01 -5.14154672e-01 -1.22365025e-02  1.77427452e+02]
 [ 5.14099461e-01  8.57697466e-01 -7.53665959e-03  4.51111308e+01]
 [ 1.43702259e-02  1.72736761e-04  9.99896728e-01  5.20477241e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.98650248099997
Centerline is valid?  [True, True]
Translation: X:177.49, Y:45.13, Z:5.21
[[ 8.68174951e-01 -4.96107389e-01 -1.22357301e-02  1.77487739e+02]
 [ 4.96050347e-01  8.68261040e-01 -7.53791333e-03  4.51265175e+01]
 [ 1.43634222e-02  4.74689383e-04  9.99896728e-01  5.20562562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.04650248099998
Centerline is valid?  [True, True]
Translation: X:177.53, Y:45.17, Z:5.21
[[ 8.62671597e-01 -5.05616517e-01 -1.22333052e-02  1.77528207e+02]
 [ 5.05560368e-01  8.62758271e-01 -7.54184668e-03  4.51724934e+01]
 [ 1.43676675e-02  3.21462650e-04  9.99896728e-01  5.20646577e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.10650248099998
Centerline is valid?  [True, True]
Translation: X:177.57, Y:45.22, Z:5.21
[[ 8.57277279e-01 -5.14709657e-01 -1.22325429e-02  1.77569180e+02]
 [ 5.14654410e-01  8.57364531e-01 -7.54308289e-03  4.52174466e+01]
 [ 1.43702460e-02  1.70981443e-04  9.99896728e-01  5.20730562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.16650248099995
Centerline is valid?  [True, True]
Translation: X:177.62, Y:45.25, Z:5.21
[[ 8.60765080e-01 -5.08855469e-01 -1.22306667e-02  1.77616175e+02]
 [ 5.08799585e-01  8.60851926e-01 -7.54612382e-03  4.52533226e+01]
 [ 1.43686793e-02  2.72481742e-04  9.99896728e-01  5.20815000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 187.22650248099995
Centerline is valid?  [True, True]
Translation: X:177.66, Y:45.29, Z:5.21
[[ 8.64802140e-01 -5.01963873e-01 -1.22282026e-02  1.77662376e+02]
 [ 5.01907241e-01  8.64888500e-01 -7.55011465e-03  4.52899180e+01]
 [ 1.43659166e-02  3.91931872e-04  9.99896728e-01  5.20898978e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.28650248099996
Centerline is valid?  [True, True]
Translation: X:177.71, Y:45.33, Z:5.21
[[ 8.69152168e-01 -4.94393576e-01 -1.22270995e-02  1.77709175e+02]
 [ 4.94336167e-01  8.69238013e-01 -7.55190057e-03  4.53273151e+01]
 [ 1.43618708e-02  5.19453223e-04  9.99896728e-01  5.20984381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.34650248099996
Centerline is valid?  [True, True]
Translation: X:177.76, Y:45.36, Z:5.21
[[ 8.70283853e-01 -4.92398793e-01 -1.22247376e-02  1.77757212e+02]
 [ 4.92341134e-01  8.70369530e-01 -7.55572208e-03  4.53612327e+01]
 [ 1.43604675e-02  5.56881760e-04  9.99896728e-01  5.21068597e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.40650248099996
Centerline is valid?  [True, True]
Translation: X:177.81, Y:45.39, Z:5.21
[[ 8.72517018e-01 -4.88430817e-01 -1.22225476e-02  1.77807118e+02]
 [ 4.88372719e-01  8.72602398e-01 -7.55926300e-03  4.53925693e+01]
 [ 1.43576014e-02  6.26426786e-04  9.99896728e-01  5.21153159e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.46650248099996
Centerline is valid?  [True, True]
Translation: X:177.86, Y:45.43, Z:5.21
[[ 8.73062539e-01 -4.87455097e-01 -1.22201274e-02  1.77856347e+02]
 [ 4.87396849e-01  8.73147817e-01 -7.56317344e-03  4.54256102e+01]
 [ 1.43566850e-02  6.47071803e-04  9.99896728e-01  5.21238171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.52650248099997
Centerline is valid?  [True, True]
Translation: X:177.91, Y:45.46, Z:5.21
[[ 8.72889628e-01 -4.87764721e-01 -1.22177387e-02  1.77906658e+02]
 [ 4.87706450e-01  8.72974890e-01 -7.56703035e-03  4.54569364e+01]
 [ 1.43567095e-02  6.46512365e-04  9.99896728e-01  5.21323210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.58650248099997
Centerline is valid?  [True, True]
Translation: X:177.98, Y:45.46, Z:5.21
[[ 8.82525536e-01 -4.70105803e-01 -1.22152889e-02  1.77976487e+02]
 [ 4.70045774e-01  8.82609569e-01 -7.57098294e-03  4.54572314e+01]
 [ 1.43404938e-02  9.39840868e-04  9.99896728e-01  5.21408592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.64650248099997
Centerline is valid?  [True, True]
Translation: X:178.03, Y:45.49, Z:5.21
[[ 8.80628994e-01 -4.73649046e-01 -1.22129673e-02  1.78027861e+02]
 [ 4.73589304e-01  8.80713231e-01 -7.57472608e-03  4.54859464e+01]
 [ 1.43438837e-02  8.86592736e-04  9.99896728e-01  5.21492941e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.70650248099997
Centerline is valid?  [True, True]
Translation: X:178.08, Y:45.51, Z:5.22
[[ 8.74319309e-01 -4.85197492e-01 -1.22122561e-02  1.78080909e+02]
 [ 4.85138848e-01  8.74404314e-01 -7.57587258e-03  4.55120897e+01]
 [ 1.43542438e-02  6.99091848e-04  9.99896728e-01  5.21577491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.76650248099997
Centerline is valid?  [True, True]
Translation: X:178.13, Y:45.54, Z:5.22
[[ 8.71777826e-01 -4.89749229e-01 -1.22112672e-02  1.78133651e+02]
 [ 4.89691006e-01  8.71863120e-01 -7.57746607e-03  4.55381794e+01]
 [ 1.43576117e-02  6.26119152e-04  9.99896728e-01  5.21661606e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.82650248099998
Centerline is valid?  [True, True]
Translation: X:178.19, Y:45.56, Z:5.22
[[ 8.67242269e-01 -4.97736628e-01 -1.22104745e-02  1.78187143e+02]
 [ 4.97679173e-01  8.67328083e-01 -7.57874338e-03  4.55626755e+01]
 [ 1.43627056e-02  4.95707783e-04  9.99896728e-01  5.21745440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.88650248099998
Centerline is valid?  [True, True]
Translation: X:178.24, Y:45.59, Z:5.22
[[ 8.63614835e-01 -5.04004342e-01 -1.22082101e-02  1.78241379e+02]
 [ 5.03947459e-01  8.63701028e-01 -7.58238916e-03  4.55876775e+01]
 [ 1.43658007e-02  3.95967300e-04  9.99896728e-01  5.21830459e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.94650248099995
Centerline is valid?  [True, True]
Translation: X:178.29, Y:45.62, Z:5.22
[[ 8.61233745e-01 -5.08062422e-01 -1.22070637e-02  1.78292467e+02]
 [ 5.08005919e-01  8.61320188e-01 -7.58423425e-03  4.56171163e+01]
 [ 1.43674549e-02  3.30537834e-04  9.99896728e-01  5.21915075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.00650248099996
Centerline is valid?  [True, True]
Translation: X:178.35, Y:45.64, Z:5.22
[[ 8.60492827e-01 -5.09316348e-01 -1.22046205e-02  1.78345175e+02]
 [ 5.09259914e-01  8.60579316e-01 -7.58816398e-03  4.56434636e+01]
 [ 1.43678199e-02  3.14236713e-04  9.99896728e-01  5.21999227e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.06650248099996
Centerline is valid?  [True, True]
Translation: X:178.40, Y:45.67, Z:5.22
[[ 8.72579862e-01 -4.88319042e-01 -1.22023366e-02  1.78398636e+02]
 [ 4.88260479e-01  8.72664923e-01 -7.59183479e-03  4.56688770e+01]
 [ 1.43557886e-02  6.66563433e-04  9.99896728e-01  5.22083595e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.12650248099996
Centerline is valid?  [True, True]
Translation: X:178.45, Y:45.69, Z:5.22
[[ 8.62941436e-01 -5.05156653e-01 -1.21997783e-02  1.78451830e+02]
 [ 5.05099693e-01  8.63027579e-01 -7.59594367e-03  4.56936651e+01]
 [ 1.43658866e-02  3.92750259e-04  9.99896728e-01  5.22167136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.18650248099996
Centerline is valid?  [True, True]
Translation: X:178.50, Y:45.72, Z:5.22
[[ 8.63686706e-01 -5.03881399e-01 -1.21987428e-02  1.78504997e+02]
 [ 5.03824288e-01  8.63772750e-01 -7.59760624e-03  4.57186763e+01]
 [ 1.43652341e-02  4.15928589e-04  9.99896728e-01  5.22250926e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.24650248099996
Centerline is valid?  [True, True]
Translation: X:178.56, Y:45.74, Z:5.22
[[ 8.64143724e-01 -5.03097288e-01 -1.21960187e-02  1.78559585e+02]
 [ 5.03040037e-01  8.64229675e-01 -7.60197656e-03  4.57419740e+01]
 [ 1.43646951e-02  4.34114616e-04  9.99896728e-01  5.22335009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.30650248099997
Centerline is valid?  [True, True]
Translation: X:178.61, Y:45.77, Z:5.22
[[ 8.63025528e-01 -5.05013081e-01 -1.21952988e-02  1.78613190e+02]
 [ 5.04956005e-01  8.63111595e-01 -7.60313128e-03  4.57678198e+01]
 [ 1.43655846e-02  4.03607009e-04  9.99896728e-01  5.22419984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.36650248099997
Centerline is valid?  [True, True]
Translation: X:178.67, Y:45.79, Z:5.23
[[ 8.62644741e-01 -5.05663280e-01 -1.21941543e-02  1.78666210e+02]
 [ 5.05606243e-01  8.62730834e-01 -7.60496650e-03  4.57947916e+01]
 [ 1.43658252e-02  3.94943825e-04  9.99896728e-01  5.22505067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 188.42650248099997
Centerline is valid?  [True, True]
Translation: X:178.72, Y:45.82, Z:5.23
[[ 8.62020399e-01 -5.06726942e-01 -1.21917237e-02  1.78719344e+02]
 [ 5.06669956e-01  8.62106525e-01 -7.60886105e-03  4.58211579e+01]
 [ 1.43661794e-02  3.81813329e-04  9.99896728e-01  5.22589718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.48650248099997
Centerline is valid?  [True, True]
Translation: X:178.77, Y:45.85, Z:5.23
[[ 8.61970996e-01 -5.06811032e-01 -1.21893157e-02  1.78772012e+02]
 [ 5.06754001e-01  8.62057092e-01 -7.61271673e-03  4.58479368e+01]
 [ 1.43660948e-02  3.84956544e-04  9.99896728e-01  5.22674112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.54650248099998
Centerline is valid?  [True, True]
Translation: X:178.83, Y:45.87, Z:5.23
[[ 8.60496178e-01 -5.09311110e-01 -1.21869028e-02  1.78825421e+02]
 [ 5.09254274e-01  8.60582403e-01 -7.61657748e-03  4.58744844e+01]
 [ 1.43670416e-02  3.47803490e-04  9.99896728e-01  5.22759229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.60650248099998
Centerline is valid?  [True, True]
Translation: X:178.88, Y:45.90, Z:5.23
[[ 8.61034653e-01 -5.08400300e-01 -1.21844571e-02  1.78876696e+02]
 [ 5.08343317e-01  8.61120781e-01 -7.62048789e-03  4.59008508e+01]
 [ 1.43665475e-02  3.67616814e-04  9.99896728e-01  5.22841597e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.66650248099995
Centerline is valid?  [True, True]
Translation: X:178.93, Y:45.93, Z:5.23
[[ 8.61113286e-01 -5.08267137e-01 -1.21830033e-02  1.78927827e+02]
 [ 5.08210108e-01  8.61199384e-01 -7.62281135e-03  4.59306026e+01]
 [ 1.43664195e-02  3.72578696e-04  9.99896728e-01  5.22926454e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.72650248099995
Centerline is valid?  [True, True]
Translation: X:178.98, Y:45.96, Z:5.23
[[ 8.58861207e-01 -5.12063533e-01 -1.21805217e-02  1.78975700e+02]
 [ 5.12006828e-01  8.58947519e-01 -7.62677475e-03  4.59618152e+01]
 [ 1.43678221e-02  3.13830705e-04  9.99896728e-01  5.23008366e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.78650248099996
Centerline is valid?  [True, True]
Translation: X:179.03, Y:45.99, Z:5.23
[[ 8.60581002e-01 -5.09167959e-01 -1.21790458e-02  1.79025984e+02]
 [ 5.09110931e-01  8.60667100e-01 -7.62913081e-03  4.59927474e+01]
 [ 1.43666130e-02  3.64999703e-04  9.99896728e-01  5.23093087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.84650248099996
Centerline is valid?  [True, True]
Translation: X:179.08, Y:46.02, Z:5.23
[[ 8.61405734e-01 -5.07771467e-01 -1.21778200e-02  1.79076381e+02]
 [ 5.07714272e-01  8.61491721e-01 -7.63108696e-03  4.60238821e+01]
 [ 1.43659393e-02  3.90609050e-04  9.99896728e-01  5.23178122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.90650248099996
Centerline is valid?  [True, True]
Translation: X:179.12, Y:46.06, Z:5.23
[[ 8.61688229e-01 -5.07291980e-01 -1.21755074e-02  1.79124061e+02]
 [ 5.07234685e-01  8.61774149e-01 -7.63477492e-03  4.60591617e+01]
 [ 1.43655976e-02  4.02956007e-04  9.99896728e-01  5.23262920e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.96650248099996
Centerline is valid?  [True, True]
Translation: X:179.17, Y:46.09, Z:5.23
[[ 8.62143822e-01 -5.06517369e-01 -1.21731558e-02  1.79173121e+02]
 [ 5.06459944e-01  8.62229655e-01 -7.63852254e-03  4.60923721e+01]
 [ 1.43651003e-02  4.20289197e-04  9.99896728e-01  5.23347819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.02650248099997
Centerline is valid?  [True, True]
Translation: X:179.22, Y:46.13, Z:5.23
[[ 8.62487724e-01 -5.05931609e-01 -1.21709907e-02  1.79222073e+02]
 [ 5.05874077e-01  8.62573486e-01 -7.64197085e-03  4.61255349e+01]
 [ 1.43646885e-02  4.34117370e-04  9.99896728e-01  5.23432566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.08650248099997
Centerline is valid?  [True, True]
Translation: X:179.27, Y:46.16, Z:5.24
[[ 8.60278896e-01 -5.09678469e-01 -1.21687791e-02  1.79268825e+02]
 [ 5.09621261e-01  8.60364874e-01 -7.64549080e-03  4.61615759e+01]
 [ 1.43663322e-02  3.75785810e-04  9.99896728e-01  5.23516835e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.14650248099997
Centerline is valid?  [True, True]
Translation: X:179.32, Y:46.19, Z:5.24
[[ 8.61271956e-01 -5.07998618e-01 -1.21663939e-02  1.79318368e+02]
 [ 5.07941189e-01  8.61357787e-01 -7.64928468e-03  4.61938571e+01]
 [ 1.43654441e-02  4.08301825e-04  9.99896728e-01  5.23601613e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.20650248099997
Centerline is valid?  [True, True]
Translation: X:179.37, Y:46.23, Z:5.24
[[ 8.59886678e-01 -5.10340025e-01 -1.21638699e-02  1.79365519e+02]
 [ 5.10282772e-01  8.59972627e-01 -7.65329619e-03  4.62277960e+01]
 [ 1.43663785e-02  3.73954196e-04  9.99896728e-01  5.23684740e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.26650248099997
Centerline is valid?  [True, True]
Translation: X:179.41, Y:46.26, Z:5.24
[[ 8.63146142e-01 -5.04807686e-01 -1.21629904e-02  1.79414683e+02]
 [ 5.04749863e-01  8.63231708e-01 -7.65469360e-03  4.62611418e+01]
 [ 1.43636272e-02  4.67851497e-04  9.99896728e-01  5.23769999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.32650248099998
Centerline is valid?  [True, True]
Translation: X:179.46, Y:46.30, Z:5.24
[[ 8.64789582e-01 -5.01987148e-01 -1.21606284e-02  1.79461592e+02]
 [ 5.01928994e-01  8.64874924e-01 -7.65844427e-03  4.62962390e+01]
 [ 1.43618631e-02  5.19170863e-04  9.99896728e-01  5.23853738e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.38650248099998
Centerline is valid?  [True, True]
Translation: X:179.51, Y:46.33, Z:5.24
[[ 8.65027058e-01 -5.01577878e-01 -1.21581948e-02  1.79508779e+02]
 [ 5.01519629e-01  8.65112334e-01 -7.66230568e-03  4.63316894e+01]
 [ 1.43614473e-02  5.30528390e-04  9.99896728e-01  5.23938082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.44650248099995
Centerline is valid?  [True, True]
Translation: X:179.56, Y:46.37, Z:5.24
[[ 8.64566743e-01 -5.02370963e-01 -1.21557537e-02  1.79556388e+02]
 [ 5.02312738e-01  8.64652036e-01 -7.66617640e-03  4.63676366e+01]
 [ 1.43617616e-02  5.21931233e-04  9.99896728e-01  5.24023325e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.50650248099996
Centerline is valid?  [True, True]
Translation: X:179.60, Y:46.41, Z:5.24
[[ 8.59750204e-01 -5.10570152e-01 -1.21534677e-02  1.79602178e+02]
 [ 5.10512689e-01  8.59836012e-01 -7.66979881e-03  4.64058532e+01]
 [ 1.43659595e-02  3.89611626e-04  9.99896728e-01  5.24108114e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.56650248099996
Centerline is valid?  [True, True]
Translation: X:179.65, Y:46.44, Z:5.24
[[ 8.59090828e-01 -5.11678906e-01 -1.21509699e-02  1.79650382e+02]
 [ 5.11621498e-01  8.59176674e-01 -7.67375389e-03  4.64407556e+01]
 [ 1.43663279e-02  3.75754164e-04  9.99896728e-01  5.24193284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 189.62650248099996
Centerline is valid?  [True, True]
Translation: X:179.70, Y:46.48, Z:5.24
[[ 8.59134282e-01 -5.11605995e-01 -1.21486862e-02  1.79697903e+02]
 [ 5.11548529e-01  8.59220088e-01 -7.67736757e-03  4.64762941e+01]
 [ 1.43661825e-02  3.81247096e-04  9.99896728e-01  5.24278132e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.68650248099996
Centerline is valid?  [True, True]
Translation: X:179.75, Y:46.51, Z:5.24
[[ 8.60300384e-01 -5.09642737e-01 -1.21462167e-02  1.79745480e+02]
 [ 5.09585020e-01  8.60386021e-01 -7.68127256e-03  4.65121731e+01]
 [ 1.43651399e-02  4.18671626e-04  9.99896728e-01  5.24363300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.74650248099996
Centerline is valid?  [True, True]
Translation: X:179.79, Y:46.55, Z:5.24
[[ 8.60920720e-01 -5.08594181e-01 -1.21438424e-02  1.79794275e+02]
 [ 5.08536307e-01  8.61006251e-01 -7.68502454e-03  4.65451696e+01]
 [ 1.43644829e-02  4.40612119e-04  9.99896728e-01  5.24447743e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.80650248099997
Centerline is valid?  [True, True]
Translation: X:179.84, Y:46.58, Z:5.25
[[ 8.58648172e-01 -5.12421575e-01 -1.21427255e-02  1.79842924e+02]
 [ 5.12364058e-01  8.58733943e-01 -7.68678875e-03  4.65772855e+01]
 [ 1.43662470e-02  3.78750979e-04  9.99896728e-01  5.24531428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.86650248099997
Centerline is valid?  [True, True]
Translation: X:179.89, Y:46.61, Z:5.25
[[ 8.58673892e-01 -5.12378497e-01 -1.21418317e-02  1.79892924e+02]
 [ 5.12320955e-01  8.58759647e-01 -7.68820036e-03  4.66086212e+01]
 [ 1.43661837e-02  3.81142108e-04  9.99896728e-01  5.24616171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.92650248099997
Centerline is valid?  [True, True]
Translation: X:179.94, Y:46.64, Z:5.25
[[ 8.55602621e-01 -5.17490861e-01 -1.21393781e-02  1.79943002e+02]
 [ 5.17433776e-01  8.55688681e-01 -7.69207252e-03  4.66376806e+01]
 [ 1.43681057e-02  3.00033131e-04  9.99896728e-01  5.24699139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.98650248099997
Centerline is valid?  [True, True]
Translation: X:179.99, Y:46.67, Z:5.25
[[ 8.51405332e-01 -5.24367827e-01 -1.21384947e-02  1.79991729e+02]
 [ 5.24311418e-01  8.51491836e-01 -7.69346636e-03  4.66713034e+01]
 [ 1.43700354e-02  1.85906899e-04  9.99896728e-01  5.24784096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.04650248099998
Centerline is valid?  [True, True]
Translation: X:180.04, Y:46.70, Z:5.25
[[ 8.51287098e-01 -5.24559809e-01 -1.21360378e-02  1.80042313e+02]
 [ 5.24503364e-01  8.51373580e-01 -7.69733999e-03  4.67014489e+01]
 [ 1.43700172e-02  1.87253552e-04  9.99896728e-01  5.24868514e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.10650248099998
Centerline is valid?  [True, True]
Translation: X:180.09, Y:46.73, Z:5.25
[[ 8.56888266e-01 -5.15359367e-01 -1.21334942e-02  1.80094038e+02]
 [ 5.15301937e-01  8.56974097e-01 -7.70134750e-03  4.67293984e+01]
 [ 1.43670518e-02  3.46781239e-04  9.99896728e-01  5.24952617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.16650248099995
Centerline is valid?  [True, True]
Translation: X:180.14, Y:46.76, Z:5.25
[[ 8.59228659e-01 -5.11447899e-01 -1.21308875e-02  1.80143423e+02]
 [ 5.11390021e-01  8.59314187e-01 -7.70545133e-03  4.67608925e+01]
 [ 1.43651806e-02  4.17129808e-04  9.99896728e-01  5.25036602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.22650248099995
Centerline is valid?  [True, True]
Translation: X:180.19, Y:46.80, Z:5.25
[[ 8.53632278e-01 -5.20734903e-01 -1.21283063e-02  1.80187125e+02]
 [ 5.20677898e-01  8.53718391e-01 -7.70951199e-03  4.67992371e+01]
 [ 1.43687701e-02  2.66147268e-04  9.99896728e-01  5.25118979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.28650248099996
Centerline is valid?  [True, True]
Translation: X:180.23, Y:46.83, Z:5.25
[[ 8.52543451e-01 -5.22515636e-01 -1.21274181e-02  1.80234946e+02]
 [ 5.22458791e-01  8.52629669e-01 -7.71090883e-03  4.68346575e+01]
 [ 1.43692669e-02  2.37808603e-04  9.99896728e-01  5.25204230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.34650248099996
Centerline is valid?  [True, True]
Translation: X:180.28, Y:46.87, Z:5.25
[[ 8.54375935e-01 -5.19513950e-01 -1.21250603e-02  1.80284269e+02]
 [ 5.19456750e-01  8.54461918e-01 -7.71461464e-03  4.68651820e+01]
 [ 1.43682522e-02  2.92736688e-04  9.99896728e-01  5.25287417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.40650248099996
Centerline is valid?  [True, True]
Translation: X:180.33, Y:46.90, Z:5.25
[[ 8.54724556e-01 -5.18940215e-01 -1.21237855e-02  1.80333131e+02]
 [ 5.18882928e-01  8.54810482e-01 -7.71661745e-03  4.68986438e+01]
 [ 1.43680021e-02  3.04757097e-04  9.99896728e-01  5.25372392e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.46650248099996
Centerline is valid?  [True, True]
Translation: X:180.39, Y:46.92, Z:5.25
[[ 8.64405607e-01 -5.02648973e-01 -1.21225435e-02  1.80391644e+02]
 [ 5.02590041e-01  8.64490413e-01 -7.71856816e-03  4.69158689e+01]
 [ 1.43595530e-02  5.79303964e-04  9.99896728e-01  5.25456538e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.52650248099997
Centerline is valid?  [True, True]
Translation: X:180.44, Y:46.95, Z:5.26
[[ 8.61179508e-01 -5.08156436e-01 -1.21198708e-02  1.80440928e+02]
 [ 5.08097988e-01  8.61264648e-01 -7.72276266e-03  4.69469743e+01]
 [ 1.43627878e-02  4.92603003e-04  9.99896729e-01  5.25540095e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.58650248099997
Centerline is valid?  [True, True]
Translation: X:180.49, Y:46.98, Z:5.26
[[ 8.59189276e-01 -5.11514339e-01 -1.21189745e-02  1.80492041e+02]
 [ 5.11456204e-01  8.59274629e-01 -7.72416888e-03  4.69764031e+01]
 [ 1.43645505e-02  4.38198379e-04  9.99896729e-01  5.25624710e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.64650248099997
Centerline is valid?  [True, True]
Translation: X:180.54, Y:47.01, Z:5.26
[[ 8.56962121e-01 -5.15236951e-01 -1.21164089e-02  1.80542345e+02]
 [ 5.15179129e-01  8.57047688e-01 -7.72819130e-03  4.70080150e+01]
 [ 1.43661899e-02  3.80646230e-04  9.99896729e-01  5.25709902e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.70650248099997
Centerline is valid?  [True, True]
Translation: X:180.59, Y:47.04, Z:5.26
[[ 8.55747866e-01 -5.17251236e-01 -1.21139803e-02  1.80589822e+02]
 [ 5.17193562e-01  8.55833533e-01 -7.73199623e-03  4.70405889e+01]
 [ 1.43669352e-02  3.51366656e-04  9.99896729e-01  5.25792423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.76650248099997
Centerline is valid?  [True, True]
Translation: X:180.64, Y:47.07, Z:5.26
[[ 8.58337233e-01 -5.12942958e-01 -1.21126327e-02  1.80638101e+02]
 [ 5.12884824e-01  8.58422589e-01 -7.73410670e-03  4.70724465e+01]
 [ 1.43649131e-02  4.26086243e-04  9.99896729e-01  5.25875445e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 190.82650248099998
Centerline is valid?  [True, True]
Translation: X:180.69, Y:47.11, Z:5.26
[[ 8.58987545e-01 -5.11853253e-01 -1.21096908e-02  1.80686140e+02]
 [ 5.11794946e-01  8.59072782e-01 -7.73871033e-03  4.71069779e+01]
 [ 1.43641898e-02  4.49777249e-04  9.99896729e-01  5.25960124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.88650248099995
Centerline is valid?  [True, True]
Translation: X:180.73, Y:47.14, Z:5.26
[[ 8.62667482e-01 -5.05626573e-01 -1.21071709e-02  1.80733246e+02]
 [ 5.05567597e-01  8.62752257e-01 -7.74265066e-03  4.71426724e+01]
 [ 1.43603789e-02  5.58339662e-04  9.99896729e-01  5.26044611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.94650248099995
Centerline is valid?  [True, True]
Translation: X:180.78, Y:47.17, Z:5.26
[[ 8.63452700e-01 -5.04284555e-01 -1.21046253e-02  1.80783270e+02]
 [ 5.04225391e-01  8.63537344e-01 -7.74662832e-03  4.71740527e+01]
 [ 1.43593010e-02  5.85387717e-04  9.99896729e-01  5.26129289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.00650248099996
Centerline is valid?  [True, True]
Translation: X:180.83, Y:47.21, Z:5.26
[[ 8.63808878e-01 -5.03674261e-01 -1.21020895e-02  1.80830916e+02]
 [ 5.03614982e-01  8.63893441e-01 -7.75058785e-03  4.72065312e+01]
 [ 1.43586873e-02  6.00233013e-04  9.99896729e-01  5.26211941e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.06650248099996
Centerline is valid?  [True, True]
Translation: X:180.88, Y:47.24, Z:5.26
[[ 8.65018747e-01 -5.01593588e-01 -1.21011979e-02  1.80882710e+02]
 [ 5.01534086e-01  8.65103154e-01 -7.75197967e-03  4.72350210e+01]
 [ 1.43571278e-02  6.36444518e-04  9.99896729e-01  5.26296645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.12650248099996
Centerline is valid?  [True, True]
Translation: X:180.93, Y:47.26, Z:5.26
[[ 8.64638806e-01 -5.02248300e-01 -1.20987910e-02  1.80933748e+02]
 [ 5.02188810e-01  8.64723220e-01 -7.75573434e-03  4.72648999e+01]
 [ 1.43574099e-02  6.30031415e-04  9.99896729e-01  5.26381394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.18650248099996
Centerline is valid?  [True, True]
Translation: X:180.98, Y:47.30, Z:5.26
[[ 8.62694204e-01 -5.05581239e-01 -1.20962912e-02  1.80984648e+02]
 [ 5.05522020e-01  8.62778810e-01 -7.75963125e-03  4.72954728e+01]
 [ 1.43595477e-02  5.79247335e-04  9.99896729e-01  5.26466506e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.24650248099996
Centerline is valid?  [True, True]
Translation: X:181.03, Y:47.33, Z:5.27
[[ 8.61164557e-01 -5.08182390e-01 -1.20939908e-02  1.81034839e+02]
 [ 5.08123376e-01  8.61249306e-01 -7.76321488e-03  4.73254424e+01]
 [ 1.43610703e-02  5.40166039e-04  9.99896729e-01  5.26550305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.30650248099997
Centerline is valid?  [True, True]
Translation: X:181.09, Y:47.35, Z:5.27
[[ 8.59139381e-01 -5.11598786e-01 -1.20915812e-02  1.81085795e+02]
 [ 5.11540057e-01  8.59224327e-01 -7.76696628e-03  4.73547693e+01]
 [ 1.43629512e-02  4.87578481e-04  9.99896729e-01  5.26634520e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.36650248099997
Centerline is valid?  [True, True]
Translation: X:181.14, Y:47.39, Z:5.27
[[ 8.56345661e-01 -5.16261527e-01 -1.20890618e-02  1.81136015e+02]
 [ 5.16203205e-01  8.56430887e-01 -7.77088558e-03  4.73859351e+01]
 [ 1.43652552e-02  4.14151692e-04  9.99896729e-01  5.26719264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.42650248099997
Centerline is valid?  [True, True]
Translation: X:181.19, Y:47.42, Z:5.27
[[ 8.54160251e-01 -5.19869386e-01 -1.20866560e-02  1.81185518e+02]
 [ 5.19811371e-01  8.54245687e-01 -7.77462566e-03  4.74160397e+01]
 [ 1.43667637e-02  3.57994954e-04  9.99896729e-01  5.26802324e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.48650248099997
Centerline is valid?  [True, True]
Translation: X:181.23, Y:47.45, Z:5.27
[[ 8.52319248e-01 -5.22882238e-01 -1.20857710e-02  1.81234278e+02]
 [ 5.22824506e-01  8.52404875e-01 -7.77600121e-03  4.74482901e+01]
 [ 1.43679030e-02  3.08898238e-04  9.99896729e-01  5.26886272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.54650248099998
Centerline is valid?  [True, True]
Translation: X:181.28, Y:47.48, Z:5.27
[[ 8.52477996e-01 -5.22623432e-01 -1.20836038e-02  1.81284724e+02]
 [ 5.22565627e-01  8.52563574e-01 -7.77936757e-03  4.74785790e+01]
 [ 1.43677202e-02  3.17263698e-04  9.99896729e-01  5.26970631e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.60650248099998
Centerline is valid?  [True, True]
Translation: X:181.33, Y:47.51, Z:5.27
[[ 8.51592978e-01 -5.24064329e-01 -1.20821760e-02  1.81334728e+02]
 [ 5.24006636e-01  8.51678632e-01 -7.78158439e-03  4.75096445e+01]
 [ 1.43681819e-02  2.95602211e-04  9.99896729e-01  5.27055118e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.66650248099995
Centerline is valid?  [True, True]
Translation: X:181.38, Y:47.54, Z:5.27
[[ 8.50001601e-01 -5.26641588e-01 -1.20795581e-02  1.81380829e+02]
 [ 5.26584098e-01  8.50087391e-01 -7.78564607e-03  4.75439410e+01]
 [ 1.43689251e-02  2.56908410e-04  9.99896729e-01  5.27137312e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.72650248099995
Centerline is valid?  [True, True]
Translation: X:181.43, Y:47.58, Z:5.27
[[ 8.49864285e-01 -5.26863178e-01 -1.20784613e-02  1.81429378e+02]
 [ 5.26805686e-01  8.49950073e-01 -7.78734726e-03  4.75765981e+01]
 [ 1.43689556e-02  2.55186206e-04  9.99896729e-01  5.27221306e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.78650248099996
Centerline is valid?  [True, True]
Translation: X:181.48, Y:47.61, Z:5.27
[[ 8.50468973e-01 -5.25886581e-01 -1.20759565e-02  1.81478381e+02]
 [ 5.25828936e-01  8.50554659e-01 -7.79122965e-03  4.76083782e+01]
 [ 1.43685642e-02  2.76311751e-04  9.99896729e-01  5.27305057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.84650248099996
Centerline is valid?  [True, True]
Translation: X:181.53, Y:47.64, Z:5.27
[[ 8.52740904e-01 -5.22194556e-01 -1.20746475e-02  1.81525807e+02]
 [ 5.22136510e-01  8.52826319e-01 -7.79325769e-03  4.76399815e+01]
 [ 1.43671739e-02  3.41015291e-04  9.99896729e-01  5.27386859e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.90650248099996
Centerline is valid?  [True, True]
Translation: X:181.57, Y:47.68, Z:5.27
[[ 8.52689954e-01 -5.22277793e-01 -1.20726879e-02  1.81572085e+02]
 [ 5.22219713e-01  8.52775345e-01 -7.79629223e-03  4.76762819e+01]
 [ 1.43671209e-02  3.43224461e-04  9.99896729e-01  5.27470887e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.96650248099996
Centerline is valid?  [True, True]
Translation: X:181.62, Y:47.71, Z:5.28
[[ 8.50311469e-01 -5.26141347e-01 -1.20701399e-02  1.81622803e+02]
 [ 5.26083599e-01  8.50397085e-01 -7.80023501e-03  4.77067082e+01]
 [ 1.43684379e-02  2.82726650e-04  9.99896729e-01  5.27555652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 192.02650248099997
Centerline is valid?  [True, True]
Translation: X:181.68, Y:47.73, Z:5.28
[[ 8.57153881e-01 -5.14919021e-01 -1.20676057e-02  1.81679642e+02]
 [ 5.14860097e-01  8.57238692e-01 -7.80415364e-03  4.77272779e+01]
 [ 1.43633257e-02  4.76231935e-04  9.99896729e-01  5.27640110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.08650248099997
Centerline is valid?  [True, True]
Translation: X:181.73, Y:47.76, Z:5.28
[[ 8.52539675e-01 -5.22523239e-01 -1.20651019e-02  1.81728544e+02]
 [ 5.22465018e-01  8.52624970e-01 -7.80802259e-03  4.77594480e+01]
 [ 1.43668804e-02  3.53055372e-04  9.99896729e-01  5.27724040e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.14650248099997
Centerline is valid?  [True, True]
Translation: X:181.78, Y:47.79, Z:5.28
[[ 8.48218771e-01 -5.29508650e-01 -1.20625515e-02  1.81776858e+02]
 [ 5.29451075e-01  8.48304504e-01 -7.81196061e-03  4.77933723e+01]
 [ 1.43692175e-02  2.39720746e-04  9.99896729e-01  5.27808627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.20650248099997
Centerline is valid?  [True, True]
Translation: X:181.82, Y:47.83, Z:5.28
[[ 8.48671865e-01 -5.28782206e-01 -1.20600087e-02  1.81823569e+02]
 [ 5.28724502e-01  8.48757511e-01 -7.81588429e-03  4.78275563e+01]
 [ 1.43689235e-02  2.56699019e-04  9.99896729e-01  5.27891488e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.26650248099997
Centerline is valid?  [True, True]
Translation: X:181.87, Y:47.86, Z:5.28
[[ 8.48090728e-01 -5.29713800e-01 -1.20585375e-02  1.81870614e+02]
 [ 5.29656158e-01  8.48176415e-01 -7.81815339e-03  4.78611504e+01]
 [ 1.43691508e-02  2.43624758e-04  9.99896729e-01  5.27974376e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.32650248099998
Centerline is valid?  [True, True]
Translation: X:181.92, Y:47.89, Z:5.28
[[ 8.49994266e-01 -5.26653929e-01 -1.20576816e-02  1.81919882e+02]
 [ 5.26595960e-01  8.50079732e-01 -7.81947313e-03  4.78929423e+01]
 [ 1.43681470e-02  2.96980881e-04  9.99896729e-01  5.28058583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.38650248099995
Centerline is valid?  [True, True]
Translation: X:181.97, Y:47.93, Z:5.28
[[ 8.47956601e-01 -5.29928559e-01 -1.20550590e-02  1.81967612e+02]
 [ 5.29870862e-01  8.48042252e-01 -7.82351432e-03  4.79276309e+01]
 [ 1.43691030e-02  2.46376121e-04  9.99896729e-01  5.28143066e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.44650248099995
Centerline is valid?  [True, True]
Translation: X:182.02, Y:47.96, Z:5.28
[[ 8.51020072e-01 -5.24994833e-01 -1.20524864e-02  1.82017565e+02]
 [ 5.24936584e-01  8.51105348e-01 -7.82747549e-03  4.79587236e+01]
 [ 1.43673198e-02  3.34547717e-04  9.99896729e-01  5.28227420e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.50650248099996
Centerline is valid?  [True, True]
Translation: X:182.07, Y:47.99, Z:5.28
[[ 8.49408974e-01 -5.27597570e-01 -1.20499038e-02  1.82065256e+02]
 [ 5.27539526e-01  8.49494389e-01 -7.83144915e-03  4.79938163e+01]
 [ 1.43681792e-02  2.95302626e-04  9.99896729e-01  5.28312178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.56650248099996
Centerline is valid?  [True, True]
Translation: X:182.12, Y:48.02, Z:5.28
[[ 8.54844230e-01 -5.18744833e-01 -1.20474424e-02  1.82115156e+02]
 [ 5.18685851e-01  8.54929001e-01 -7.83523382e-03  4.80234532e+01]
 [ 1.43641950e-02  4.49066492e-04  9.99896729e-01  5.28395337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.62650248099996
Centerline is valid?  [True, True]
Translation: X:182.16, Y:48.06, Z:5.28
[[ 8.53744329e-01 -5.20553103e-01 -1.20452538e-02  1.82164252e+02]
 [ 5.20494253e-01  8.53829192e-01 -7.83859703e-03  4.80555034e+01]
 [ 1.43649953e-02  4.22672387e-04  9.99896729e-01  5.28479436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.68650248099996
Centerline is valid?  [True, True]
Translation: X:182.21, Y:48.09, Z:5.29
[[ 8.54845507e-01 -5.18742839e-01 -1.20426996e-02  1.82212775e+02]
 [ 5.18683755e-01  8.54930206e-01 -7.84251917e-03  4.80879988e+01]
 [ 1.43639183e-02  4.57789637e-04  9.99896729e-01  5.28563168e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.74650248099996
Centerline is valid?  [True, True]
Translation: X:182.26, Y:48.12, Z:5.29
[[ 8.54058908e-01 -5.20036908e-01 -1.20414398e-02  1.82261488e+02]
 [ 5.19977925e-01  8.54143678e-01 -7.84445304e-03  4.81192055e+01]
 [ 1.43645247e-02  4.38342146e-04  9.99896729e-01  5.28646217e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.80650248099997
Centerline is valid?  [True, True]
Translation: X:182.31, Y:48.15, Z:5.29
[[ 8.53730638e-01 -5.20575665e-01 -1.20405161e-02  1.82311473e+02]
 [ 5.20516716e-01  8.53815431e-01 -7.84587045e-03  4.81498499e+01]
 [ 1.43647477e-02  4.30970070e-04  9.99896729e-01  5.28730381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.86650248099997
Centerline is valid?  [True, True]
Translation: X:182.36, Y:48.18, Z:5.29
[[ 8.55343996e-01 -5.17920559e-01 -1.20392389e-02  1.82359566e+02]
 [ 5.17861318e-01  8.55428586e-01 -7.84782977e-03  4.81816312e+01]
 [ 1.43632615e-02  4.77937924e-04  9.99896729e-01  5.28813133e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.92650248099997
Centerline is valid?  [True, True]
Translation: X:182.41, Y:48.21, Z:5.29
[[ 8.56527832e-01 -5.15960421e-01 -1.20381922e-02  1.82408519e+02]
 [ 5.15900964e-01  8.56612270e-01 -7.84943503e-03  4.82139399e+01]
 [ 1.43620610e-02  5.12744574e-04  9.99896729e-01  5.28897352e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.98650248099997
Centerline is valid?  [True, True]
Translation: X:182.46, Y:48.25, Z:5.29
[[ 8.57689283e-01 -5.14027467e-01 -1.20356466e-02  1.82458523e+02]
 [ 5.13967766e-01  8.57773549e-01 -7.85333637e-03  4.82453541e+01]
 [ 1.43606899e-02  5.49788049e-04  9.99896729e-01  5.28982018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.04650248099998
Centerline is valid?  [True, True]
Translation: X:182.51, Y:48.28, Z:5.29
[[ 8.55383049e-01 -5.17856201e-01 -1.20330543e-02  1.82508395e+02]
 [ 5.17796821e-01  8.55467541e-01 -7.85730635e-03  4.82768020e+01]
 [ 1.43628422e-02  4.90329396e-04  9.99896729e-01  5.29066546e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.10650248099998
Centerline is valid?  [True, True]
Translation: X:182.56, Y:48.31, Z:5.29
[[ 8.53320158e-01 -5.21248477e-01 -1.20305067e-02  1.82559964e+02]
 [ 5.21189378e-01  8.53404847e-01 -7.86120515e-03  4.83053421e+01]
 [ 1.43645339e-02  4.37952529e-04  9.99896729e-01  5.29150833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.16650248099995
Centerline is valid?  [True, True]
Translation: X:182.61, Y:48.34, Z:5.29
[[ 8.50653016e-01 -5.25589929e-01 -1.20280080e-02  1.82609310e+02]
 [ 5.25531209e-01  8.50737968e-01 -7.86502631e-03  4.83382869e+01]
 [ 1.43664617e-02  3.69314746e-04  9.99896729e-01  5.29235910e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 193.22650248099995
Centerline is valid?  [True, True]
Translation: X:182.66, Y:48.37, Z:5.29
[[ 8.49700841e-01 -5.27127942e-01 -1.20255487e-02  1.82659028e+02]
 [ 5.27069322e-01  8.49785862e-01 -7.86878478e-03  4.83698276e+01]
 [ 1.43669976e-02  3.47815235e-04  9.99896729e-01  5.29320335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.28650248099996
Centerline is valid?  [True, True]
Translation: X:182.71, Y:48.40, Z:5.29
[[ 8.50297404e-01 -5.26165157e-01 -1.20230121e-02  1.82707159e+02]
 [ 5.26106386e-01  8.50382321e-01 -7.87265870e-03  4.84032557e+01]
 [ 1.43664756e-02  3.68717816e-04  9.99896729e-01  5.29404328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.34650248099996
Centerline is valid?  [True, True]
Translation: X:182.76, Y:48.44, Z:5.29
[[ 8.52923242e-01 -5.21897907e-01 -1.20215938e-02  1.82756884e+02]
 [ 5.21838681e-01  8.53007842e-01 -7.87482385e-03  4.84350791e+01]
 [ 1.43643679e-02  4.43287637e-04  9.99896729e-01  5.29489064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.40650248099996
Centerline is valid?  [True, True]
Translation: X:182.81, Y:48.47, Z:5.30
[[ 8.53603816e-01 -5.20784089e-01 -1.20190887e-02  1.82806185e+02]
 [ 5.20724699e-01  8.53688301e-01 -7.87864547e-03  4.84670437e+01]
 [ 1.43636286e-02  4.66605507e-04  9.99896729e-01  5.29573316e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.46650248099996
Centerline is valid?  [True, True]
Translation: X:182.86, Y:48.50, Z:5.30
[[ 8.58240175e-01 -5.13107567e-01 -1.20177887e-02  1.82856671e+02]
 [ 5.13047394e-01  8.58324104e-01 -7.88062794e-03  4.84975785e+01]
 [ 1.43587675e-02  5.97776335e-04  9.99896729e-01  5.29657959e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.52650248099997
Centerline is valid?  [True, True]
Translation: X:182.91, Y:48.53, Z:5.30
[[ 8.57648997e-01 -5.14095129e-01 -1.20165091e-02  1.82906752e+02]
 [ 5.14035025e-01  8.57732976e-01 -7.88257864e-03  4.85293192e+01]
 [ 1.43593514e-02  5.83579126e-04  9.99896729e-01  5.29743066e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.58650248099997
Centerline is valid?  [True, True]
Translation: X:182.96, Y:48.56, Z:5.30
[[ 8.56188021e-01 -5.16524671e-01 -1.20140836e-02  1.82957024e+02]
 [ 5.16464753e-01  8.56272133e-01 -7.88627368e-03  4.85594769e+01]
 [ 1.43607799e-02  5.47282347e-04  9.99896729e-01  5.29827065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.64650248099997
Centerline is valid?  [True, True]
Translation: X:183.01, Y:48.59, Z:5.30
[[ 8.56040439e-01 -5.16769277e-01 -1.20116878e-02  1.83007448e+02]
 [ 5.16709333e-01  8.56124532e-01 -7.88992104e-03  4.85895357e+01]
 [ 1.43607694e-02  5.47540299e-04  9.99896729e-01  5.29911166e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.70650248099997
Centerline is valid?  [True, True]
Translation: X:183.06, Y:48.62, Z:5.30
[[ 8.52503984e-01 -5.22582758e-01 -1.20091069e-02  1.83056413e+02]
 [ 5.22523332e-01  8.52588444e-01 -7.89384739e-03  4.86216111e+01]
 [ 1.43640143e-02  4.54497788e-04  9.99896729e-01  5.29995091e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.76650248099997
Centerline is valid?  [True, True]
Translation: X:183.11, Y:48.65, Z:5.30
[[ 8.48292460e-01 -5.29391864e-01 -1.20065319e-02  1.83107406e+02]
 [ 5.29333061e-01  8.48377354e-01 -7.89776208e-03  4.86513711e+01]
 [ 1.43670807e-02  3.44157749e-04  9.99896729e-01  5.30079623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.82650248099998
Centerline is valid?  [True, True]
Translation: X:183.16, Y:48.68, Z:5.30
[[ 8.46854928e-01 -5.31688477e-01 -1.20039166e-02  1.83157376e+02]
 [ 5.31629848e-01  8.46939943e-01 -7.90173514e-03  4.86808961e+01]
 [ 1.43678579e-02  3.09983013e-04  9.99896729e-01  5.30162735e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.88650248099995
Centerline is valid?  [True, True]
Translation: X:183.21, Y:48.71, Z:5.30
[[ 8.47247875e-01 -5.31062112e-01 -1.20030005e-02  1.83205481e+02]
 [ 5.31003400e-01  8.47332833e-01 -7.90312638e-03  4.87146068e+01]
 [ 1.43675874e-02  3.22272940e-04  9.99896729e-01  5.30247052e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.94650248099995
Centerline is valid?  [True, True]
Translation: X:183.25, Y:48.75, Z:5.30
[[ 8.49068042e-01 -5.28147188e-01 -1.20003507e-02  1.83252629e+02]
 [ 5.28088128e-01  8.49152758e-01 -7.90714790e-03  4.87487725e+01]
 [ 1.43662688e-02  3.76463848e-04  9.99896729e-01  5.30330441e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.00650248099996
Centerline is valid?  [True, True]
Translation: X:183.30, Y:48.78, Z:5.30
[[ 8.50815003e-01 -5.25328320e-01 -1.19994265e-02  1.83299350e+02]
 [ 5.25268960e-01  8.50899509e-01 -7.90855019e-03  4.87841584e+01]
 [ 1.43648915e-02  4.25786888e-04  9.99896729e-01  5.30414423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.06650248099996
Centerline is valid?  [True, True]
Translation: X:183.35, Y:48.82, Z:5.30
[[ 8.46869340e-01 -5.31665643e-01 -1.19985048e-02  1.83347975e+02]
 [ 5.31606895e-01  8.46954274e-01 -7.90994834e-03  4.88171145e+01]
 [ 1.43676327e-02  3.20204869e-04  9.99896729e-01  5.30498769e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.12650248099996
Centerline is valid?  [True, True]
Translation: X:183.40, Y:48.85, Z:5.31
[[ 8.44668163e-01 -5.35155857e-01 -1.19959278e-02  1.83395367e+02]
 [ 5.35097405e-01  8.44753300e-01 -7.91385450e-03  4.88529756e+01]
 [ 1.43687452e-02  2.65591101e-04  9.99896729e-01  5.30583804e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.18650248099996
Centerline is valid?  [True, True]
Translation: X:183.44, Y:48.89, Z:5.31
[[ 8.41219905e-01 -5.40560107e-01 -1.19934204e-02  1.83444307e+02]
 [ 5.40502147e-01  8.41305378e-01 -7.91765260e-03  4.88863652e+01]
 [ 1.43700963e-02  1.78017476e-04  9.99896729e-01  5.30668749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.24650248099996
Centerline is valid?  [True, True]
Translation: X:183.49, Y:48.92, Z:5.31
[[ 8.40149858e-01 -5.42221755e-01 -1.19910338e-02  1.83490772e+02]
 [ 5.42163913e-01  8.40235410e-01 -7.92126545e-03  4.89235407e+01]
 [ 1.43703737e-02  1.53944238e-04  9.99896729e-01  5.30753733e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.30650248099997
Centerline is valid?  [True, True]
Translation: X:183.54, Y:48.96, Z:5.31
[[ 8.40665254e-01 -5.41422392e-01 -1.19885022e-02  1.83536690e+02]
 [ 5.41364415e-01  8.40750714e-01 -7.92509508e-03  4.89614698e+01]
 [ 1.43701657e-02  1.72203595e-04  9.99896729e-01  5.30838655e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.36650248099997
Centerline is valid?  [True, True]
Translation: X:183.58, Y:49.00, Z:5.31
[[ 8.44041010e-01 -5.36144675e-01 -1.19858595e-02  1.83582986e+02]
 [ 5.36086106e-01  8.44126067e-01 -7.92908983e-03  4.89970727e+01]
 [ 1.43687157e-02  2.67024234e-04  9.99896729e-01  5.30922181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 194.42650248099997
Centerline is valid?  [True, True]
Translation: X:183.63, Y:49.03, Z:5.31
[[ 8.47186994e-01 -5.31159673e-01 -1.19832981e-02  1.83629915e+02]
 [ 5.31100549e-01  8.47271665e-01 -7.93295903e-03  4.90333234e+01]
 [ 1.43667769e-02  3.56363517e-04  9.99896729e-01  5.31006989e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.48650248099997
Centerline is valid?  [True, True]
Translation: X:183.68, Y:49.06, Z:5.31
[[ 8.53034108e-01 -5.21717618e-01 -1.19807516e-02  1.83680967e+02]
 [ 5.21657503e-01  8.53118079e-01 -7.93680299e-03  4.90604717e+01]
 [ 1.43617657e-02  5.20514686e-04  9.99896729e-01  5.31089519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.54650248099998
Centerline is valid?  [True, True]
Translation: X:183.73, Y:49.09, Z:5.31
[[ 8.53379431e-01 -5.21152616e-01 -1.19790285e-02  1.83731167e+02]
 [ 5.21092409e-01  8.53463336e-01 -7.93940291e-03  4.90921398e+01]
 [ 1.43613022e-02  5.33142341e-04  9.99896729e-01  5.31174673e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.60650248099998
Centerline is valid?  [True, True]
Translation: X:183.78, Y:49.13, Z:5.31
[[ 8.50263241e-01 -5.26221421e-01 -1.19765550e-02  1.83780095e+02]
 [ 5.26161662e-01  8.50347465e-01 -7.94313232e-03  4.91251853e+01]
 [ 1.43640796e-02  4.52149328e-04  9.99896729e-01  5.31259342e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.66650248099995
Centerline is valid?  [True, True]
Translation: X:183.83, Y:49.16, Z:5.31
[[ 8.46060647e-01 -5.32952130e-01 -1.19753600e-02  1.83829770e+02]
 [ 5.32893016e-01  8.46145325e-01 -7.94493364e-03  4.91566545e+01]
 [ 1.43671641e-02  3.40310018e-04  9.99896729e-01  5.31343748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.72650248099995
Centerline is valid?  [True, True]
Translation: X:183.88, Y:49.19, Z:5.31
[[ 8.44750967e-01 -5.35025658e-01 -1.19727951e-02  1.83878087e+02]
 [ 5.34966698e-01  8.44835753e-01 -7.94879692e-03  4.91894438e+01]
 [ 1.43678557e-02  3.09707235e-04  9.99896729e-01  5.31427474e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.78650248099996
Centerline is valid?  [True, True]
Translation: X:183.93, Y:49.22, Z:5.32
[[ 8.44040882e-01 -5.36145232e-01 -1.19699416e-02  1.83925558e+02]
 [ 5.36086323e-01  8.44125703e-01 -7.95309161e-03  4.92224653e+01]
 [ 1.43681475e-02  2.95812478e-04  9.99896729e-01  5.31510349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.84650248099996
Centerline is valid?  [True, True]
Translation: X:183.97, Y:49.26, Z:5.32
[[ 8.44086427e-01 -5.36073592e-01 -1.19669140e-02  1.83973180e+02]
 [ 5.36014611e-01  8.44171198e-01 -7.95764469e-03  4.92576758e+01]
 [ 1.43680073e-02  3.02499139e-04  9.99896729e-01  5.31595136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.90650248099996
Centerline is valid?  [True, True]
Translation: X:184.02, Y:49.29, Z:5.32
[[ 8.47780489e-01 -5.30212312e-01 -1.19643553e-02  1.84019257e+02]
 [ 5.30152691e-01  8.47864812e-01 -7.96148977e-03  4.92922432e+01]
 [ 1.43654358e-02  4.06660525e-04  9.99896729e-01  5.31677600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.96650248099996
Centerline is valid?  [True, True]
Translation: X:184.07, Y:49.33, Z:5.32
[[ 8.49321729e-01 -5.27739985e-01 -1.19627977e-02  1.84067292e+02]
 [ 5.27680086e-01  8.49405854e-01 -7.96382948e-03  4.93258538e+01]
 [ 1.43641017e-02  4.51323295e-04  9.99896729e-01  5.31761723e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.02650248099997
Centerline is valid?  [True, True]
Translation: X:184.12, Y:49.36, Z:5.32
[[ 8.48162652e-01 -5.29600856e-01 -1.19602875e-02  1.84117359e+02]
 [ 5.29541088e-01  8.48246871e-01 -7.96759755e-03  4.93579669e+01]
 [ 1.43649230e-02  4.24354991e-04  9.99896729e-01  5.31847012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.08650248099997
Centerline is valid?  [True, True]
Translation: X:184.17, Y:49.39, Z:5.32
[[ 8.46650893e-01 -5.32014357e-01 -1.19578067e-02  1.84167292e+02]
 [ 5.31954777e-01  8.46735244e-01 -7.97131908e-03  4.93884142e+01]
 [ 1.43659526e-02  3.87912034e-04  9.99896729e-01  5.31930814e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.14650248099997
Centerline is valid?  [True, True]
Translation: X:184.22, Y:49.42, Z:5.32
[[ 8.44815332e-01 -5.34924413e-01 -1.19551907e-02  1.84217808e+02]
 [ 5.34865068e-01  8.44899849e-01 -7.97524061e-03  4.94194359e+01]
 [ 1.43670897e-02  3.43191665e-04  9.99896729e-01  5.32015759e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.20650248099997
Centerline is valid?  [True, True]
Translation: X:184.27, Y:49.45, Z:5.32
[[ 8.42043108e-01 -5.39277794e-01 -1.19526134e-02  1.84265034e+02]
 [ 5.39218831e-01  8.42127892e-01 -7.97910138e-03  4.94529265e+01]
 [ 1.43685813e-02  2.73673118e-04  9.99896729e-01  5.32098742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.26650248099997
Centerline is valid?  [True, True]
Translation: X:184.31, Y:49.49, Z:5.32
[[ 8.39429369e-01 -5.43337399e-01 -1.19500996e-02  1.84314872e+02]
 [ 5.43278793e-01  8.39514400e-01 -7.98286434e-03  4.94851775e+01]
 [ 1.43696695e-02  2.08815066e-04  9.99896729e-01  5.32183864e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.32650248099998
Centerline is valid?  [True, True]
Translation: X:184.36, Y:49.52, Z:5.32
[[ 8.41115649e-01 -5.40723332e-01 -1.19475069e-02  1.84361879e+02]
 [ 5.40664406e-01  8.41200459e-01 -7.98674284e-03  4.95214801e+01]
 [ 1.43688665e-02  2.58182652e-04  9.99896729e-01  5.32268833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.38650248099995
Centerline is valid?  [True, True]
Translation: X:184.41, Y:49.56, Z:5.32
[[ 8.44009162e-01 -5.36195723e-01 -1.19449395e-02  1.84409285e+02]
 [ 5.36136288e-01  8.44093615e-01 -7.99058084e-03  4.95575655e+01]
 [ 1.43671624e-02  3.40007914e-04  9.99896729e-01  5.32354110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.44650248099995
Centerline is valid?  [True, True]
Translation: X:184.46, Y:49.59, Z:5.32
[[ 8.43297166e-01 -5.37314842e-01 -1.19436474e-02  1.84456995e+02]
 [ 5.37255492e-01  8.43381679e-01 -7.99251170e-03  4.95930763e+01]
 [ 1.43675485e-02  3.23272302e-04  9.99896729e-01  5.32439388e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.50650248099996
Centerline is valid?  [True, True]
Translation: X:184.50, Y:49.63, Z:5.33
[[ 8.41186290e-01 -5.40613573e-01 -1.19411308e-02  1.84504102e+02]
 [ 5.40554501e-01  8.41270998e-01 -7.99626980e-03  4.96289435e+01]
 [ 1.43686190e-02  2.71520516e-04  9.99896729e-01  5.32524142e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.56650248099996
Centerline is valid?  [True, True]
Translation: X:184.55, Y:49.66, Z:5.33
[[ 8.40990437e-01 -5.40918254e-01 -1.19384875e-02  1.84551842e+02]
 [ 5.40859157e-01  8.41075127e-01 -8.00021431e-03  4.96612775e+01]
 [ 1.43686269e-02  2.71063434e-04  9.99896729e-01  5.32606820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 195.62650248099996
Centerline is valid?  [True, True]
Translation: X:184.60, Y:49.69, Z:5.33
[[ 8.42541843e-01 -5.38498641e-01 -1.19355084e-02  1.84599936e+02]
 [ 5.38439238e-01  8.42626319e-01 -8.00465644e-03  4.96946945e+01]
 [ 1.43676701e-02  3.17711967e-04  9.99896729e-01  5.32690763e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.68650248099996
Centerline is valid?  [True, True]
Translation: X:184.65, Y:49.73, Z:5.33
[[ 8.42509179e-01 -5.38549802e-01 -1.19329001e-02  1.84645973e+02]
 [ 5.38490349e-01  8.42593620e-01 -8.00854282e-03  4.97313704e+01]
 [ 1.43675846e-02  3.21519311e-04  9.99896729e-01  5.32774889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.74650248099996
Centerline is valid?  [True, True]
Translation: X:184.69, Y:49.77, Z:5.33
[[ 8.38783639e-01 -5.44334151e-01 -1.19305611e-02  1.84693623e+02]
 [ 5.44275231e-01  8.38868452e-01 -8.01202571e-03  4.97668624e+01]
 [ 1.43693906e-02  2.26847166e-04  9.99896729e-01  5.32860015e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.80650248099997
Centerline is valid?  [True, True]
Translation: X:184.75, Y:49.79, Z:5.33
[[ 8.49096324e-01 -5.28103353e-01 -1.19281558e-02  1.84752018e+02]
 [ 5.28042762e-01  8.49179952e-01 -8.01560507e-03  4.97850804e+01]
 [ 1.43622187e-02  5.07444448e-04  9.99896729e-01  5.32944109e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.86650248099997
Centerline is valid?  [True, True]
Translation: X:184.79, Y:49.83, Z:5.33
[[ 8.41247823e-01 -5.40518165e-01 -1.19253764e-02  1.84789868e+02]
 [ 5.40458750e-01  8.41332290e-01 -8.01973805e-03  4.98319234e+01]
 [ 1.43680184e-02  3.01413128e-04  9.99896729e-01  5.33026614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.92650248099997
Centerline is valid?  [True, True]
Translation: X:184.84, Y:49.87, Z:5.33
[[ 8.37209866e-01 -5.46751726e-01 -1.19244013e-02  1.84835340e+02]
 [ 5.46692920e-01  8.37294758e-01 -8.02118775e-03  4.98668522e+01]
 [ 1.43698369e-02  1.96431775e-04  9.99896729e-01  5.33108793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.98650248099997
Centerline is valid?  [True, True]
Translation: X:184.88, Y:49.90, Z:5.33
[[ 8.33197569e-01 -5.52846869e-01 -1.19226534e-02  1.84883102e+02]
 [ 5.52788647e-01  8.33282863e-01 -8.02378497e-03  4.99004522e+01]
 [ 1.43708671e-02  9.46907054e-05  9.99896729e-01  5.33192582e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.04650248099998
Centerline is valid?  [True, True]
Translation: X:184.93, Y:49.93, Z:5.33
[[ 8.35768692e-01 -5.48952289e-01 -1.19196144e-02  1.84931958e+02]
 [ 5.48893605e-01  8.35853669e-01 -8.02829696e-03  4.99341252e+01]
 [ 1.43702054e-02  1.67199139e-04  9.99896729e-01  5.33277645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.10650248099998
Centerline is valid?  [True, True]
Translation: X:184.98, Y:49.97, Z:5.33
[[ 8.36355659e-01 -5.48057659e-01 -1.19169470e-02  1.84980789e+02]
 [ 5.47998828e-01  8.36440534e-01 -8.03225435e-03  4.99671635e+01]
 [ 1.43699561e-02  1.87348373e-04  9.99896729e-01  5.33362194e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.16650248099995
Centerline is valid?  [True, True]
Translation: X:185.03, Y:50.00, Z:5.33
[[ 8.38490761e-01 -5.44785545e-01 -1.19143948e-02  1.85028195e+02]
 [ 5.44726329e-01  8.38575368e-01 -8.03603835e-03  5.00012178e+01]
 [ 1.43690355e-02  2.48059369e-04  9.99896729e-01  5.33445871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.22650248099995
Centerline is valid?  [True, True]
Translation: X:185.07, Y:50.04, Z:5.34
[[ 8.38981806e-01 -5.44029061e-01 -1.19125972e-02  1.85074691e+02]
 [ 5.43969732e-01  8.39066333e-01 -8.03870222e-03  5.00372639e+01]
 [ 1.43687469e-02  2.64232605e-04  9.99896729e-01  5.33530119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.28650248099996
Centerline is valid?  [True, True]
Translation: X:185.12, Y:50.07, Z:5.34
[[ 8.42084756e-01 -5.39213702e-01 -1.19099352e-02  1.85124457e+02]
 [ 5.39153834e-01  8.42168902e-01 -8.04264417e-03  5.00692289e+01]
 [ 1.43668810e-02  3.51300815e-04  9.99896729e-01  5.33614921e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.34650248099996
Centerline is valid?  [True, True]
Translation: X:185.17, Y:50.10, Z:5.34
[[ 8.43481893e-01 -5.37025614e-01 -1.19073534e-02  1.85171987e+02]
 [ 5.36965473e-01  8.43565845e-01 -8.04646481e-03  5.01039817e+01]
 [ 1.43657944e-02  3.93209709e-04  9.99896729e-01  5.33699309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.40650248099996
Centerline is valid?  [True, True]
Translation: X:185.22, Y:50.14, Z:5.34
[[ 8.42517244e-01 -5.38537810e-01 -1.19046728e-02  1.85221550e+02]
 [ 5.38477764e-01  8.42601263e-01 -8.05042887e-03  5.01365175e+01]
 [ 1.43663526e-02  3.72223571e-04  9.99896729e-01  5.33784328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.46650248099996
Centerline is valid?  [True, True]
Translation: X:185.27, Y:50.17, Z:5.34
[[ 8.40301228e-01 -5.41989101e-01 -1.19021200e-02  1.85269370e+02]
 [ 5.41929346e-01  8.40385456e-01 -8.05420119e-03  5.01713196e+01]
 [ 1.43676578e-02  3.17847034e-04  9.99896729e-01  5.33869104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.52650248099997
Centerline is valid?  [True, True]
Translation: X:185.32, Y:50.21, Z:5.34
[[ 8.38704423e-01 -5.44456881e-01 -1.18993879e-02  1.85316210e+02]
 [ 5.44397317e-01  8.38788785e-01 -8.05823558e-03  5.02059706e+01]
 [ 1.43684350e-02  2.80482953e-04  9.99896729e-01  5.33952583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.58650248099997
Centerline is valid?  [True, True]
Translation: X:185.36, Y:50.24, Z:5.34
[[ 8.38839409e-01 -5.44248921e-01 -1.18977872e-02  1.85364420e+02]
 [ 5.44189303e-01  8.38923733e-01 -8.06059841e-03  5.02393528e+01]
 [ 1.43683080e-02  2.86899104e-04  9.99896729e-01  5.34036749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.64650248099997
Centerline is valid?  [True, True]
Translation: X:185.41, Y:50.28, Z:5.34
[[ 8.39276230e-01 -5.43575127e-01 -1.18950080e-02  1.85411540e+02]
 [ 5.43515383e-01  8.39360464e-01 -8.06469756e-03  5.02754501e+01]
 [ 1.43679684e-02  3.03389152e-04  9.99896729e-01  5.34121728e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.70650248099997
Centerline is valid?  [True, True]
Translation: X:185.46, Y:50.31, Z:5.34
[[ 8.39961911e-01 -5.42515027e-01 -1.18925647e-02  1.85460012e+02]
 [ 5.42455125e-01  8.40046034e-01 -8.06829898e-03  5.03082897e+01]
 [ 1.43674752e-02  3.25881184e-04  9.99896729e-01  5.34205712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.76650248099997
Centerline is valid?  [True, True]
Translation: X:185.51, Y:50.34, Z:5.34
[[ 8.39148763e-01 -5.43771992e-01 -1.18900667e-02  1.85508873e+02]
 [ 5.43712165e-01  8.39232939e-01 -8.07197853e-03  5.03410731e+01]
 [ 1.43678514e-02  3.08816920e-04  9.99896729e-01  5.34290109e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 196.82650248099998
Centerline is valid?  [True, True]
Translation: X:185.56, Y:50.38, Z:5.34
[[ 8.40258273e-01 -5.42056012e-01 -1.18876085e-02  1.85557002e+02]
 [ 5.41995962e-01  8.40342289e-01 -8.07559703e-03  5.03753359e+01]
 [ 1.43670861e-02  3.42551398e-04  9.99896729e-01  5.34374833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.88650248099995
Centerline is valid?  [True, True]
Translation: X:185.60, Y:50.41, Z:5.34
[[ 8.41441631e-01 -5.40217298e-01 -1.18850156e-02  1.85603180e+02]
 [ 5.40157010e-01  8.41525477e-01 -8.07941134e-03  5.04100481e+01]
 [ 1.43661811e-02  3.78578593e-04  9.99896729e-01  5.34457594e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.94650248099995
Centerline is valid?  [True, True]
Translation: X:185.65, Y:50.44, Z:5.35
[[ 8.43571216e-01 -5.36885823e-01 -1.18834726e-02  1.85651161e+02]
 [ 5.36825172e-01  8.43654800e-01 -8.08168013e-03  5.04449001e+01]
 [ 1.43644882e-02  4.38125516e-04  9.99896729e-01  5.34542683e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.00650248099996
Centerline is valid?  [True, True]
Translation: X:185.70, Y:50.48, Z:5.35
[[ 8.44448150e-01 -5.35505524e-01 -1.18809436e-02  1.85700302e+02]
 [ 5.35444684e-01  8.44531596e-01 -8.08539635e-03  5.04777500e+01]
 [ 1.43636067e-02  4.66109903e-04  9.99896729e-01  5.34627466e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.06650248099996
Centerline is valid?  [True, True]
Translation: X:185.75, Y:50.51, Z:5.35
[[ 8.42726789e-01 -5.38210427e-01 -1.18783648e-02  1.85746053e+02]
 [ 5.38149801e-01  8.42810392e-01 -8.08918310e-03  5.05144052e+01]
 [ 1.43648920e-02  4.24631648e-04  9.99896729e-01  5.34711297e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.12650248099996
Centerline is valid?  [True, True]
Translation: X:185.81, Y:50.52, Z:5.35
[[ 8.41494932e-01 -5.40134471e-01 -1.18756861e-02  1.85813541e+02]
 [ 5.40073982e-01  8.41578633e-01 -8.09311384e-03  5.05185470e+01]
 [ 1.43656934e-02  3.96565230e-04  9.99896729e-01  5.34794627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.18650248099996
Centerline is valid?  [True, True]
Translation: X:185.86, Y:50.55, Z:5.35
[[ 8.36889163e-01 -5.47243609e-01 -1.18726955e-02  1.85861403e+02]
 [ 5.47183768e-01  8.36973329e-01 -8.09749858e-03  5.05523733e+01]
 [ 1.43684339e-02  2.80162519e-04  9.99896729e-01  5.34878634e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.24650248099996
Centerline is valid?  [True, True]
Translation: X:185.91, Y:50.59, Z:5.35
[[ 8.39744407e-01 -5.42852127e-01 -1.18700857e-02  1.85909038e+02]
 [ 5.42791793e-01  8.39828220e-01 -8.10132261e-03  5.05858452e+01]
 [ 1.43666531e-02  3.60055276e-04  9.99896729e-01  5.34962113e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.30650248099997
Centerline is valid?  [True, True]
Translation: X:185.96, Y:50.62, Z:5.35
[[ 8.39039476e-01 -5.43941105e-01 -1.18672642e-02  1.85957559e+02]
 [ 5.43880821e-01  8.39123325e-01 -8.10545349e-03  5.06195607e+01]
 [ 1.43669875e-02  3.46418034e-04  9.99896729e-01  5.35046827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.36650248099997
Centerline is valid?  [True, True]
Translation: X:186.01, Y:50.65, Z:5.35
[[ 8.40212873e-01 -5.42126884e-01 -1.18646947e-02  1.86005292e+02]
 [ 5.42066365e-01  8.40296553e-01 -8.10921297e-03  5.06536221e+01]
 [ 1.43660844e-02  3.82013191e-04  9.99896730e-01  5.35130905e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.42650248099997
Centerline is valid?  [True, True]
Translation: X:186.05, Y:50.69, Z:5.35
[[ 8.40618870e-01 -5.41497191e-01 -1.18620220e-02  1.86053513e+02]
 [ 5.41436555e-01  8.40702465e-01 -8.11312071e-03  5.06872121e+01]
 [ 1.43656632e-02  3.97510037e-04  9.99896730e-01  5.35215173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.48650248099997
Centerline is valid?  [True, True]
Translation: X:186.10, Y:50.72, Z:5.35
[[ 8.53639690e-01 -5.20728945e-01 -1.18594297e-02  1.86104070e+02]
 [ 5.20666226e-01  8.53721733e-01 -8.11690823e-03  5.07169968e+01]
 [ 1.43513619e-02  7.54110520e-04  9.99896730e-01  5.35299129e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.54650248099998
Centerline is valid?  [True, True]
Translation: X:186.15, Y:50.75, Z:5.35
[[ 8.40434981e-01 -5.41782672e-01 -1.18566403e-02  1.86151593e+02]
 [ 5.41721953e-01  8.40518516e-01 -8.12098074e-03  5.07527384e+01]
 [ 1.43655324e-02  4.02153943e-04  9.99896730e-01  5.35384307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.60650248099995
Centerline is valid?  [True, True]
Translation: X:186.20, Y:50.79, Z:5.35
[[ 8.40004111e-01 -5.42450525e-01 -1.18541750e-02  1.86200057e+02]
 [ 5.42389822e-01  8.40087657e-01 -8.12457783e-03  5.07860113e+01]
 [ 1.43657276e-02  3.95094927e-04  9.99896730e-01  5.35468620e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.66650248099995
Centerline is valid?  [True, True]
Translation: X:186.25, Y:50.81, Z:5.36
[[ 8.48817037e-01 -5.28553857e-01 -1.18514974e-02  1.86251658e+02]
 [ 5.28491733e-01  8.48899532e-01 -8.12848170e-03  5.08138413e+01]
 [ 1.43570710e-02  6.36175325e-04  9.99896730e-01  5.35552213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.72650248099995
Centerline is valid?  [True, True]
Translation: X:186.30, Y:50.85, Z:5.36
[[ 8.43266203e-01 -5.37365506e-01 -1.18500557e-02  1.86301085e+02]
 [ 5.37304215e-01  8.43349319e-01 -8.13058295e-03  5.08459258e+01]
 [ 1.43628312e-02  4.89160924e-04  9.99896730e-01  5.35636772e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.78650248099996
Centerline is valid?  [True, True]
Translation: X:186.33, Y:50.90, Z:5.36
[[ 8.27784617e-01 -5.60920909e-01 -1.18474096e-02  1.86332856e+02]
 [ 5.60861931e-01  8.27869389e-01 -8.13443691e-03  5.09021559e+01]
 [ 1.43708835e-02  8.88007262e-05  9.99896730e-01  5.35719967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.84650248099996
Centerline is valid?  [True, True]
Translation: X:186.38, Y:50.93, Z:5.36
[[ 8.30197275e-01 -5.57343869e-01 -1.18446784e-02  1.86382529e+02]
 [ 5.57284468e-01  8.30281752e-01 -8.13841187e-03  5.09344699e+01]
 [ 1.43703143e-02  1.55632047e-04  9.99896730e-01  5.35804923e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.90650248099996
Centerline is valid?  [True, True]
Translation: X:186.43, Y:50.97, Z:5.36
[[ 8.34880434e-01 -5.50303941e-01 -1.18420584e-02  1.86429402e+02]
 [ 5.50243774e-01  8.34964367e-01 -8.14222239e-03  5.09691362e+01]
 [ 1.43683939e-02  2.81763237e-04  9.99896730e-01  5.35888484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.96650248099996
Centerline is valid?  [True, True]
Translation: X:186.48, Y:51.00, Z:5.36
[[ 8.36414843e-01 -5.47969012e-01 -1.18394057e-02  1.86480058e+02]
 [ 5.47908556e-01  8.36498569e-01 -8.14607786e-03  5.10003377e+01]
 [ 1.43674441e-02  3.26588767e-04  9.99896730e-01  5.35973702e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 198.02650248099997
Centerline is valid?  [True, True]
Translation: X:186.53, Y:51.03, Z:5.36
[[ 8.35432680e-01 -5.49465304e-01 -1.18371357e-02  1.86529966e+02]
 [ 5.49404951e-01  8.35516479e-01 -8.14937500e-03  5.10319631e+01]
 [ 1.43679208e-02  3.04873203e-04  9.99896730e-01  5.36058403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.08650248099997
Centerline is valid?  [True, True]
Translation: X:186.58, Y:51.07, Z:5.36
[[ 8.48281971e-01 -5.29412544e-01 -1.18345115e-02  1.86577577e+02]
 [ 5.29350160e-01  8.48364270e-01 -8.15318419e-03  5.10656837e+01]
 [ 1.43563747e-02  6.51598630e-04  9.99896730e-01  5.36142068e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.14650248099997
Centerline is valid?  [True, True]
Translation: X:186.63, Y:51.10, Z:5.36
[[ 8.47484187e-01 -5.30688732e-01 -1.18330544e-02  1.86628173e+02]
 [ 5.30626443e-01  8.47566557e-01 -8.15529835e-03  5.10971359e+01]
 [ 1.43572261e-02  6.32554835e-04  9.99896730e-01  5.36227496e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.20650248099997
Centerline is valid?  [True, True]
Translation: X:186.68, Y:51.12, Z:5.36
[[ 8.34159955e-01 -5.51395688e-01 -1.18306389e-02  1.86681931e+02]
 [ 5.51335396e-01  8.34243798e-01 -8.15880095e-03  5.11234253e+01]
 [ 1.43683648e-02  2.83095065e-04  9.99896730e-01  5.36312384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.26650248099997
Centerline is valid?  [True, True]
Translation: X:186.75, Y:51.13, Z:5.36
[[ 8.42919728e-01 -5.37909313e-01 -1.18280295e-02  1.86747164e+02]
 [ 5.37847628e-01  8.43002551e-01 -8.16258208e-03  5.11330323e+01]
 [ 1.43617880e-02  5.18723860e-04  9.99896730e-01  5.36397207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.32650248099998
Centerline is valid?  [True, True]
Translation: X:186.79, Y:51.17, Z:5.36
[[ 8.43762615e-01 -5.36586261e-01 -1.18251952e-02  1.86794624e+02]
 [ 5.36524388e-01  8.43845298e-01 -8.16668608e-03  5.11653971e+01]
 [ 1.43607669e-02  5.46238774e-04  9.99896730e-01  5.36479552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.38650248099995
Centerline is valid?  [True, True]
Translation: X:186.84, Y:51.20, Z:5.37
[[ 8.44769505e-01 -5.34999697e-01 -1.18240216e-02  1.86843849e+02]
 [ 5.34937645e-01  8.44852054e-01 -8.16838499e-03  5.11977773e+01]
 [ 1.43596324e-02  5.75288304e-04  9.99896730e-01  5.36564123e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.44650248099995
Centerline is valid?  [True, True]
Translation: X:186.88, Y:51.24, Z:5.37
[[ 8.40771019e-01 -5.41261813e-01 -1.18212771e-02  1.86884527e+02]
 [ 5.41200321e-01  8.40853986e-01 -8.17235477e-03  5.12418634e+01]
 [ 1.43633516e-02  4.73400065e-04  9.99896730e-01  5.36648036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.50650248099996
Centerline is valid?  [True, True]
Translation: X:186.94, Y:51.26, Z:5.37
[[ 8.46781370e-01 -5.31809767e-01 -1.18187991e-02  1.86942506e+02]
 [ 5.31747299e-01  8.46863604e-01 -8.17593697e-03  5.12614844e+01]
 [ 1.43569539e-02  6.38616619e-04  9.99896730e-01  5.36732427e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.56650248099996
Centerline is valid?  [True, True]
Translation: X:186.98, Y:51.31, Z:5.37
[[ 8.55967502e-01 -5.16894559e-01 -1.18174183e-02  1.86981928e+02]
 [ 5.16830632e-01  8.56048608e-01 -8.17793217e-03  5.13079198e+01]
 [ 1.43434132e-02  8.92440375e-04  9.99896730e-01  5.36816890e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.62650248099996
Centerline is valid?  [True, True]
Translation: X:187.03, Y:51.34, Z:5.37
[[ 8.54884459e-01 -5.18683855e-01 -1.18161042e-02  1.87033182e+02]
 [ 5.18620072e-01  8.54965678e-01 -8.17983049e-03  5.13368340e+01]
 [ 1.43451096e-02  8.64741143e-04  9.99896730e-01  5.36901013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.68650248099996
Centerline is valid?  [True, True]
Translation: X:187.08, Y:51.37, Z:5.37
[[ 8.53470717e-01 -5.21006856e-01 -1.18148738e-02  1.87084074e+02]
 [ 5.20943270e-01  8.53552090e-01 -8.18160727e-03  5.13673166e+01]
 [ 1.43472837e-02  8.27883226e-04  9.99896730e-01  5.36985997e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.74650248099996
Centerline is valid?  [True, True]
Translation: X:187.14, Y:51.40, Z:5.37
[[ 8.53025248e-01 -5.21735945e-01 -1.18122958e-02  1.87135702e+02]
 [ 5.21672377e-01  8.53106635e-01 -8.18532766e-03  5.13967034e+01]
 [ 1.43477276e-02  8.20142745e-04  9.99896730e-01  5.37070847e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.80650248099997
Centerline is valid?  [True, True]
Translation: X:187.19, Y:51.42, Z:5.37
[[ 8.53072913e-01 -5.21658063e-01 -1.18097422e-02  1.87188038e+02]
 [ 5.21594437e-01  8.53154255e-01 -8.18901033e-03  5.14248120e+01]
 [ 1.43473951e-02  8.25927068e-04  9.99896730e-01  5.37155484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.86650248099997
Centerline is valid?  [True, True]
Translation: X:187.24, Y:51.45, Z:5.37
[[ 8.37072594e-01 -5.46964406e-01 -1.18072351e-02  1.87243543e+02]
 [ 5.46903194e-01  8.37155767e-01 -8.19262356e-03  5.14475959e+01]
 [ 1.43655684e-02  4.00406077e-04  9.99896730e-01  5.37239497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.92650248099997
Centerline is valid?  [True, True]
Translation: X:187.29, Y:51.48, Z:5.37
[[ 8.50423997e-01 -5.25965442e-01 -1.18058973e-02  1.87292262e+02]
 [ 5.25902151e-01  8.50505601e-01 -8.19455095e-03  5.14801182e+01]
 [ 1.43510324e-02  7.60096000e-04  9.99896730e-01  5.37323566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.98650248099997
Centerline is valid?  [True, True]
Translation: X:187.34, Y:51.51, Z:5.37
[[ 8.49060742e-01 -5.28163339e-01 -1.18044044e-02  1.87343092e+02]
 [ 5.28100230e-01  8.49142486e-01 -8.19670088e-03  5.15098372e+01]
 [ 1.43528182e-02  7.25588251e-04  9.99896730e-01  5.37407816e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.04650248099998
Centerline is valid?  [True, True]
Translation: X:187.39, Y:51.54, Z:5.37
[[ 8.46704033e-01 -5.31933265e-01 -1.18017536e-02  1.87393526e+02]
 [ 5.31870467e-01  8.46786016e-01 -8.20051582e-03  5.15401888e+01]
 [ 1.43556871e-02  6.66405635e-04  9.99896730e-01  5.37492018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.10650248099995
Centerline is valid?  [True, True]
Translation: X:187.45, Y:51.57, Z:5.38
[[ 8.30868988e-01 -5.56342974e-01 -1.17991607e-02  1.87445577e+02]
 [ 5.56282535e-01  8.30952725e-01 -8.20424489e-03  5.15670635e+01]
 [ 1.43689187e-02  2.52985648e-04  9.99896730e-01  5.37575277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.16650248099995
Centerline is valid?  [True, True]
Translation: X:187.50, Y:51.60, Z:5.38
[[ 8.32644191e-01 -5.53682642e-01 -1.17975587e-02  1.87496578e+02]
 [ 5.53621903e-01  8.32727711e-01 -8.20654786e-03  5.15974220e+01]
 [ 1.43679771e-02  3.01747510e-04  9.99896730e-01  5.37660234e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 199.22650248099995
Centerline is valid?  [True, True]
Translation: X:187.55, Y:51.63, Z:5.38
[[ 8.39177027e-01 -5.43730445e-01 -1.17949883e-02  1.87545125e+02]
 [ 5.43668664e-01  8.39259778e-01 -8.21024056e-03  5.16289181e+01]
 [ 1.43632170e-02  4.77279749e-04  9.99896730e-01  5.37743145e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.28650248099996
Centerline is valid?  [True, True]
Translation: X:187.60, Y:51.66, Z:5.38
[[ 8.38773619e-01 -5.44352596e-01 -1.17926965e-02  1.87595641e+02]
 [ 5.44290831e-01  8.38856382e-01 -8.21353096e-03  5.16602293e+01]
 [ 1.43634356e-02  4.70636498e-04  9.99896730e-01  5.37828248e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.34650248099996
Centerline is valid?  [True, True]
Translation: X:187.65, Y:51.68, Z:5.38
[[ 8.57579174e-01 -5.14216833e-01 -1.17901847e-02  1.87649559e+02]
 [ 5.14152118e-01  8.57659652e-01 -8.21713495e-03  5.16843895e+01]
 [ 1.43373549e-02  9.84895355e-04  9.99896730e-01  5.37911465e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.40650248099996
Centerline is valid?  [True, True]
Translation: X:187.71, Y:51.70, Z:5.38
[[ 8.64427210e-01 -5.02619765e-01 -1.17885732e-02  1.87706793e+02]
 [ 5.02553940e-01  8.64506783e-01 -8.21944625e-03  5.17045435e+01]
 [ 1.43225576e-02  1.18071907e-03  9.99896730e-01  5.37995369e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.46650248099996
Centerline is valid?  [True, True]
Translation: X:187.75, Y:51.74, Z:5.38
[[ 8.58765586e-01 -5.12233085e-01 -1.17870806e-02  1.87751809e+02]
 [ 5.12168123e-01  8.58845865e-01 -8.22158613e-03  5.17411360e+01]
 [ 1.43346539e-02  1.02344827e-03  9.99896730e-01  5.38078389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.52650248099997
Centerline is valid?  [True, True]
Translation: X:187.80, Y:51.77, Z:5.38
[[ 8.45035269e-01 -5.34580660e-01 -1.17861049e-02  1.87804367e+02]
 [ 5.34517807e-01  8.45117209e-01 -8.22298461e-03  5.17676784e+01]
 [ 1.43564886e-02  6.48829054e-04  9.99896730e-01  5.38162081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.58650248099997
Centerline is valid?  [True, True]
Translation: X:187.86, Y:51.79, Z:5.38
[[ 8.43398926e-01 -5.37158607e-01 -1.17848235e-02  1.87856207e+02]
 [ 5.37095979e-01  8.43481038e-01 -8.22482069e-03  5.17938845e+01]
 [ 1.43583084e-02  6.07223626e-04  9.99896730e-01  5.38244620e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.64650248099997
Centerline is valid?  [True, True]
Translation: X:187.91, Y:51.81, Z:5.38
[[ 8.40189485e-01 -5.42164894e-01 -1.17837490e-02  1.87914382e+02]
 [ 5.42102734e-01  8.40271952e-01 -8.22635978e-03  5.18126814e+01]
 [ 1.43615973e-02  5.23698421e-04  9.99896730e-01  5.38328544e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.70650248099997
Centerline is valid?  [True, True]
Translation: X:187.97, Y:51.84, Z:5.38
[[ 8.37882664e-01 -5.45723233e-01 -1.17811128e-02  1.87967189e+02]
 [ 5.45661369e-01  8.37965354e-01 -8.23013352e-03  5.18387002e+01]
 [ 1.43635394e-02  4.67388078e-04  9.99896730e-01  5.38411928e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.76650248099997
Centerline is valid?  [True, True]
Translation: X:188.02, Y:51.87, Z:5.38
[[ 8.37611650e-01 -5.46139170e-01 -1.17783751e-02  1.88019442e+02]
 [ 5.46077293e-01  8.37694330e-01 -8.23404954e-03  5.18651624e+01]
 [ 1.43636151e-02  4.65032616e-04  9.99896730e-01  5.38495005e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.82650248099998
Centerline is valid?  [True, True]
Translation: X:188.07, Y:51.89, Z:5.39
[[ 8.36279361e-01 -5.48177131e-01 -1.17755387e-02  1.88073309e+02]
 [ 5.48115399e-01  8.36362148e-01 -8.23810398e-03  5.18912696e+01]
 [ 1.43645550e-02  4.35002252e-04  9.99896730e-01  5.38579672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.88650248099995
Centerline is valid?  [True, True]
Translation: X:188.13, Y:51.92, Z:5.39
[[ 8.36943869e-01 -5.47162092e-01 -1.17730893e-02  1.88125983e+02]
 [ 5.47100210e-01  8.37026545e-01 -8.24160296e-03  5.19182378e+01]
 [ 1.43638809e-02  4.56699460e-04  9.99896730e-01  5.38663675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.94650248099995
Centerline is valid?  [True, True]
Translation: X:188.18, Y:51.94, Z:5.39
[[ 8.38571440e-01 -5.44664483e-01 -1.17703660e-02  1.88181240e+02]
 [ 5.44602300e-01  8.38653890e-01 -8.24549046e-03  5.19419319e+01]
 [ 1.43622890e-02  5.04264440e-04  9.99896730e-01  5.38747983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.00650248099996
Centerline is valid?  [True, True]
Translation: X:188.24, Y:51.97, Z:5.39
[[ 8.36988705e-01 -5.47093622e-01 -1.17676205e-02  1.88235955e+02]
 [ 5.47031624e-01  8.37071293e-01 -8.24940680e-03  5.19656963e+01]
 [ 1.43635352e-02  4.67399756e-04  9.99896730e-01  5.38831698e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.06650248099996
Centerline is valid?  [True, True]
Translation: X:188.29, Y:51.99, Z:5.39
[[ 8.34089349e-01 -5.51503894e-01 -1.17649183e-02  1.88289851e+02]
 [ 5.51442278e-01  8.34172223e-01 -8.25325870e-03  5.19913918e+01]
 [ 1.43656724e-02  3.96281814e-04  9.99896730e-01  5.38916036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.12650248099996
Centerline is valid?  [True, True]
Translation: X:188.35, Y:52.01, Z:5.39
[[ 8.46138185e-01 -5.32833760e-01 -1.17624580e-02  1.88347831e+02]
 [ 5.32770269e-01  8.46219632e-01 -8.25676362e-03  5.20101143e+01]
 [ 1.43531053e-02  7.19675063e-04  9.99896730e-01  5.38999438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.18650248099996
Centerline is valid?  [True, True]
Translation: X:188.39, Y:52.04, Z:5.39
[[ 8.34582812e-01 -5.50756971e-01 -1.17596677e-02  1.88394848e+02]
 [ 5.50695175e-01  8.34665552e-01 -8.26073581e-03  5.20424616e+01]
 [ 1.43650474e-02  4.18275855e-04  9.99896730e-01  5.39081149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.24650248099996
Centerline is valid?  [True, True]
Translation: X:188.45, Y:52.06, Z:5.39
[[ 8.42976357e-01 -5.37822093e-01 -1.17582721e-02  1.88450793e+02]
 [ 5.37759001e-01  8.43058114e-01 -8.26272178e-03  5.20641807e+01]
 [ 1.43567811e-02  6.42162431e-04  9.99896730e-01  5.39164730e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.30650248099997
Centerline is valid?  [True, True]
Translation: X:188.50, Y:52.09, Z:5.39
[[ 8.36093353e-01 -5.48461220e-01 -1.17556273e-02  1.88501934e+02]
 [ 5.48399117e-01  8.36175863e-01 -8.26648291e-03  5.20908559e+01]
 [ 1.43636171e-02  4.64775763e-04  9.99896730e-01  5.39246610e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.36650248099997
Centerline is valid?  [True, True]
Translation: X:188.55, Y:52.12, Z:5.39
[[ 8.38689245e-01 -5.44483427e-01 -1.17536253e-02  1.88552480e+02]
 [ 5.44420892e-01  8.38771429e-01 -8.26932844e-03  5.21201148e+01]
 [ 1.43611174e-02  5.36477633e-04  9.99896730e-01  5.39329993e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 200.42650248099997
Centerline is valid?  [True, True]
Translation: X:188.60, Y:52.15, Z:5.39
[[ 8.37481529e-01 -5.46339275e-01 -1.17509771e-02  1.88601274e+02]
 [ 5.46276870e-01  8.37563811e-01 -8.27308999e-03  5.21521832e+01]
 [ 1.43621071e-02  5.09273065e-04  9.99896730e-01  5.39413565e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.48650248099997
Centerline is valid?  [True, True]
Translation: X:188.65, Y:52.19, Z:5.39
[[ 8.36961301e-01 -5.47135960e-01 -1.17482925e-02  1.88647042e+02]
 [ 5.47073580e-01  8.37043602e-01 -8.27690046e-03  5.21867923e+01]
 [ 1.43624230e-02  5.00264923e-04  9.99896730e-01  5.39495677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.54650248099998
Centerline is valid?  [True, True]
Translation: X:188.70, Y:52.22, Z:5.40
[[ 8.33120321e-01 -5.52967034e-01 -1.17469262e-02  1.88696165e+02]
 [ 5.52905203e-01  8.33203035e-01 -8.27883922e-03  5.22181219e+01]
 [ 1.43654997e-02  4.02332596e-04  9.99896730e-01  5.39579170e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.60650248099995
Centerline is valid?  [True, True]
Translation: X:188.75, Y:52.25, Z:5.40
[[ 8.39337741e-01 -5.43483424e-01 -1.17441178e-02  1.88745625e+02]
 [ 5.43420603e-01  8.39419706e-01 -8.28282112e-03  5.22487792e+01]
 [ 1.43598199e-02  5.70088773e-04  9.99896730e-01  5.39662331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.66650248099995
Centerline is valid?  [True, True]
Translation: X:188.79, Y:52.29, Z:5.40
[[ 8.35067488e-01 -5.50022190e-01 -1.17423044e-02  1.88791593e+02]
 [ 5.49959975e-01  8.35149914e-01 -8.28539121e-03  5.22861595e+01]
 [ 1.43637335e-02  4.61063408e-04  9.99896730e-01  5.39747077e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.72650248099995
Centerline is valid?  [True, True]
Translation: X:188.83, Y:52.32, Z:5.40
[[ 8.24305015e-01 -5.66024220e-01 -1.17398773e-02  1.88834628e+02]
 [ 5.65963558e-01  8.24388590e-01 -8.28882880e-03  5.23246251e+01]
 [ 1.43698987e-02  1.88180428e-04  9.99896730e-01  5.39829210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.78650248099996
Centerline is valid?  [True, True]
Translation: X:188.88, Y:52.35, Z:5.40
[[ 8.28544079e-01 -5.59800786e-01 -1.17383776e-02  1.88884876e+02]
 [ 5.59739466e-01  8.28627172e-01 -8.29095213e-03  5.23541673e+01]
 [ 1.43680201e-02  2.98986116e-04  9.99896730e-01  5.39912523e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.84650248099996
Centerline is valid?  [True, True]
Translation: X:188.93, Y:52.39, Z:5.40
[[ 8.26030881e-01 -5.63502670e-01 -1.17356076e-02  1.88930747e+02]
 [ 5.63441667e-01  8.26114207e-01 -8.29487110e-03  5.23878644e+01]
 [ 1.43691342e-02  2.39489376e-04  9.99896730e-01  5.39993994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.90650248099996
Centerline is valid?  [True, True]
Translation: X:188.98, Y:52.42, Z:5.40
[[ 8.23744605e-01 -5.66839605e-01 -1.17340335e-02  1.88978446e+02]
 [ 5.66778907e-01  8.23828155e-01 -8.29709720e-03  5.24218940e+01]
 [ 1.43699505e-02  1.84086360e-04  9.99896730e-01  5.40078027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.96650248099996
Centerline is valid?  [True, True]
Translation: X:189.03, Y:52.46, Z:5.40
[[ 8.22242398e-01 -5.69016512e-01 -1.17323844e-02  1.89026131e+02]
 [ 5.68956002e-01  8.22326083e-01 -8.29942839e-03  5.24561303e+01]
 [ 1.43703575e-02  1.48931355e-04  9.99896730e-01  5.40162205e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.02650248099997
Centerline is valid?  [True, True]
Translation: X:189.07, Y:52.49, Z:5.40
[[ 8.22166875e-01 -5.69125684e-01 -1.17297165e-02  1.89072712e+02]
 [ 5.69065132e-01  8.22250529e-01 -8.30319738e-03  5.24908201e+01]
 [ 1.43703285e-02  1.51641196e-04  9.99896730e-01  5.40245348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.08650248099997
Centerline is valid?  [True, True]
Translation: X:189.12, Y:52.53, Z:5.40
[[ 8.22618452e-01 -5.68472833e-01 -1.17269242e-02  1.89118961e+02]
 [ 5.68412158e-01  8.22702018e-01 -8.30713907e-03  5.25261075e+01]
 [ 1.43701471e-02  1.67879570e-04  9.99896730e-01  5.40328585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.14650248099997
Centerline is valid?  [True, True]
Translation: X:189.17, Y:52.56, Z:5.40
[[ 8.21855416e-01 -5.69575474e-01 -1.17241371e-02  1.89165637e+02]
 [ 5.69514855e-01  8.21939022e-01 -8.31107086e-03  5.25594517e+01]
 [ 1.43703079e-02  1.53428387e-04  9.99896730e-01  5.40410710e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.20650248099997
Centerline is valid?  [True, True]
Translation: X:189.21, Y:52.59, Z:5.40
[[ 8.18703032e-01 -5.74097508e-01 -1.17216707e-02  1.89212876e+02]
 [ 5.74037301e-01  8.18786935e-01 -8.31454782e-03  5.25931980e+01]
 [ 1.43709120e-02  7.84692779e-05  9.99896730e-01  5.40493866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.26650248099997
Centerline is valid?  [True, True]
Translation: X:189.26, Y:52.63, Z:5.41
[[ 8.17720291e-01 -5.75496473e-01 -1.17190075e-02  1.89260625e+02]
 [ 5.75436356e-01  8.17804259e-01 -8.31829988e-03  5.26264766e+01]
 [ 1.43710065e-02  5.84996427e-05  9.99896730e-01  5.40577208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.32650248099998
Centerline is valid?  [True, True]
Translation: X:189.31, Y:52.66, Z:5.41
[[ 8.15904779e-01 -5.78067552e-01 -1.17173926e-02  1.89308680e+02]
 [ 5.78007667e-01  8.15988913e-01 -8.32057400e-03  5.26596219e+01]
 [ 1.43711163e-02  1.60533221e-05  9.99896730e-01  5.40660918e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.38650248099995
Centerline is valid?  [True, True]
Translation: X:189.36, Y:52.69, Z:5.41
[[ 8.16480625e-01 -5.77253975e-01 -1.17148613e-02  1.89355560e+02]
 [ 5.77193954e-01  8.16564662e-01 -8.32413648e-03  5.26939905e+01]
 [ 1.43710826e-02  3.47490559e-05  9.99896730e-01  5.40744164e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.44650248099995
Centerline is valid?  [True, True]
Translation: X:189.40, Y:52.73, Z:5.41
[[ 8.16532346e-01 -5.77180868e-01 -1.17121223e-02  1.89400582e+02]
 [ 5.77120785e-01  8.16616339e-01 -8.32798845e-03  5.27291281e+01]
 [ 1.43710660e-02  4.07627398e-05  9.99896730e-01  5.40825851e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.50650248099996
Centerline is valid?  [True, True]
Translation: X:189.45, Y:52.76, Z:5.41
[[ 8.14118776e-01 -5.80580308e-01 -1.17100302e-02  1.89447893e+02]
 [ 5.80520534e-01  8.14202988e-01 -8.33092912e-03  5.27629333e+01]
 [ 1.43711150e-02 -1.55471564e-05  9.99896730e-01  5.40909185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.56650248099996
Centerline is valid?  [True, True]
Translation: X:189.49, Y:52.80, Z:5.41
[[ 8.14216997e-01 -5.80442607e-01 -1.17073189e-02  1.89494109e+02]
 [ 5.80382763e-01  8.14301161e-01 -8.33473746e-03  5.27980765e+01]
 [ 1.43711201e-02 -8.44120953e-06  9.99896730e-01  5.40992281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 201.62650248099996
Centerline is valid?  [True, True]
Translation: X:189.54, Y:52.83, Z:5.41
[[ 8.17853338e-01 -5.75307674e-01 -1.17045608e-02  1.89542288e+02]
 [ 5.75247247e-01  8.17937083e-01 -8.33860899e-03  5.28299322e+01]
 [ 1.43708600e-02  8.67428452e-05  9.99896730e-01  5.41074929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.68650248099996
Centerline is valid?  [True, True]
Translation: X:189.59, Y:52.86, Z:5.41
[[ 8.17711536e-01 -5.75509263e-01 -1.17018337e-02  1.89588579e+02]
 [ 5.75448801e-01  8.17795256e-01 -8.34243427e-03  5.28649319e+01]
 [ 1.43708522e-02  8.78985916e-05  9.99896730e-01  5.41157993e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.74650248099996
Centerline is valid?  [True, True]
Translation: X:189.64, Y:52.90, Z:5.41
[[ 8.16031361e-01 -5.77889218e-01 -1.16991144e-02  1.89636796e+02]
 [ 5.77828946e-01  8.16115218e-01 -8.34624597e-03  5.28975355e+01]
 [ 1.43710308e-02  5.07115472e-05  9.99896730e-01  5.41241314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.80650248099997
Centerline is valid?  [True, True]
Translation: X:189.68, Y:52.93, Z:5.41
[[ 8.15522103e-01 -5.78607720e-01 -1.16964278e-02  1.89684021e+02]
 [ 5.78547468e-01  8.15605974e-01 -8.35000921e-03  5.29325863e+01]
 [ 1.43710562e-02  4.26783842e-05  9.99896730e-01  5.41325519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.86650248099997
Centerline is valid?  [True, True]
Translation: X:189.73, Y:52.97, Z:5.41
[[ 8.14165132e-01 -5.80515627e-01 -1.16937868e-02  1.89730585e+02]
 [ 5.80455518e-01  8.14249106e-01 -8.35370615e-03  5.29679862e+01]
 [ 1.43711124e-02  1.35731760e-05  9.99896730e-01  5.41409249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.92650248099997
Centerline is valid?  [True, True]
Translation: X:189.78, Y:53.00, Z:5.41
[[ 8.13956389e-01 -5.80808328e-01 -1.16911456e-02  1.89777664e+02]
 [ 5.80748196e-01  8.14040347e-01 -8.35740096e-03  5.30025457e+01]
 [ 1.43711123e-02  1.29481962e-05  9.99896730e-01  5.41492880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.98650248099997
Centerline is valid?  [True, True]
Translation: X:189.83, Y:53.04, Z:5.42
[[ 8.13097414e-01 -5.82010286e-01 -1.16885266e-02  1.89825921e+02]
 [ 5.81950226e-01  8.13181423e-01 -8.36106218e-03  5.30358215e+01]
 [ 1.43711169e-02 -3.78267804e-06  9.99896730e-01  5.41576819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.04650248099998
Centerline is valid?  [True, True]
Translation: X:189.87, Y:53.07, Z:5.42
[[ 8.12522375e-01 -5.82812860e-01 -1.16859089e-02  1.89874044e+02]
 [ 5.82752830e-01  8.12606405e-01 -8.36471928e-03  5.30689196e+01]
 [ 1.43711104e-02 -1.34749094e-05  9.99896730e-01  5.41660451e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.10650248099995
Centerline is valid?  [True, True]
Translation: X:189.92, Y:53.10, Z:5.42
[[ 8.10278863e-01 -5.85928041e-01 -1.16830770e-02  1.89919670e+02]
 [ 5.85868278e-01  8.10363083e-01 -8.36867277e-03  5.31032633e+01]
 [ 1.43709743e-02 -6.37855322e-05  9.99896730e-01  5.41742183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.16650248099995
Centerline is valid?  [True, True]
Translation: X:189.97, Y:53.14, Z:5.42
[[ 8.09615017e-01 -5.86845016e-01 -1.16812491e-02  1.89966398e+02]
 [ 5.86785311e-01  8.09699279e-01 -8.37122346e-03  5.31376994e+01]
 [ 1.43709097e-02 -7.69171409e-05  9.99896730e-01  5.41825395e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.22650248099995
Centerline is valid?  [True, True]
Translation: X:190.01, Y:53.17, Z:5.42
[[ 8.11231107e-01 -5.84609018e-01 -1.16785071e-02  1.90014025e+02]
 [ 5.84549025e-01  8.11315164e-01 -8.37504694e-03  5.31714919e+01]
 [ 1.43710779e-02 -3.25613597e-05  9.99896730e-01  5.41909015e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.28650248099996
Centerline is valid?  [True, True]
Translation: X:190.06, Y:53.21, Z:5.42
[[ 8.09808214e-01 -5.86578494e-01 -1.16759452e-02  1.90058666e+02]
 [ 5.86518654e-01  8.09892380e-01 -8.37861707e-03  5.32098715e+01]
 [ 1.43709756e-02 -6.30867464e-05  9.99896730e-01  5.41993011e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.34650248099996
Centerline is valid?  [True, True]
Translation: X:190.10, Y:53.25, Z:5.42
[[ 8.12192494e-01 -5.83272737e-01 -1.16733818e-02  1.90102970e+02]
 [ 5.83212504e-01  8.12276378e-01 -8.38218695e-03  5.32470414e+01]
 [ 1.43711134e-02 -1.12913765e-07  9.99896730e-01  5.42075604e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.40650248099996
Centerline is valid?  [True, True]
Translation: X:190.15, Y:53.29, Z:5.42
[[ 8.15352228e-01 -5.78847599e-01 -1.16705755e-02  1.90147340e+02]
 [ 5.78786854e-01  8.15435743e-01 -8.38609235e-03  5.32854615e+01]
 [ 1.43708738e-02  8.28433874e-05  9.99896730e-01  5.42159300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.46650248099996
Centerline is valid?  [True, True]
Translation: X:190.19, Y:53.32, Z:5.42
[[ 8.20506684e-01 -5.71517841e-01 -1.16678489e-02  1.90194643e+02]
 [ 5.71456297e-01  8.20589612e-01 -8.38988423e-03  5.33202184e+01]
 [ 1.43694842e-02  2.16290339e-04  9.99896730e-01  5.42243358e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.52650248099997
Centerline is valid?  [True, True]
Translation: X:190.24, Y:53.36, Z:5.42
[[ 8.26210098e-01 -5.63241330e-01 -1.16652734e-02  1.90240459e+02]
 [ 5.63178905e-01  8.26292364e-01 -8.39346374e-03  5.33565356e+01]
 [ 1.43664720e-02  3.65128603e-04  9.99896730e-01  5.42327009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.58650248099997
Centerline is valid?  [True, True]
Translation: X:190.29, Y:53.39, Z:5.42
[[ 8.25969630e-01 -5.63593959e-01 -1.16627421e-02  1.90285606e+02]
 [ 5.63531520e-01  8.26051885e-01 -8.39697949e-03  5.33923661e+01]
 [ 1.43665170e-02  3.63327259e-04  9.99896730e-01  5.42409477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.64650248099997
Centerline is valid?  [True, True]
Translation: X:190.33, Y:53.43, Z:5.42
[[ 8.38435208e-01 -5.44876544e-01 -1.16599467e-02  1.90333776e+02]
 [ 5.44812216e-01  8.38515995e-01 -8.40085939e-03  5.34253174e+01]
 [ 1.43544830e-02  6.91094896e-04  9.99896730e-01  5.42493026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.70650248099997
Centerline is valid?  [True, True]
Translation: X:190.38, Y:53.46, Z:5.43
[[ 8.37662858e-01 -5.46063202e-01 -1.16582642e-02  1.90381395e+02]
 [ 5.45998957e-01  8.37743711e-01 -8.40319357e-03  5.34593313e+01]
 [ 1.43553123e-02  6.73643037e-04  9.99896730e-01  5.42576947e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.76650248099997
Centerline is valid?  [True, True]
Translation: X:190.43, Y:53.49, Z:5.43
[[ 8.42578532e-01 -5.38447360e-01 -1.16557870e-02  1.90430025e+02]
 [ 5.38382337e-01  8.42658761e-01 -8.40662824e-03  5.34915473e+01]
 [ 1.43483778e-02  8.07974631e-04  9.99896730e-01  5.42660447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 202.82650248099998
Centerline is valid?  [True, True]
Translation: X:190.48, Y:53.52, Z:5.43
[[ 8.38671545e-01 -5.44512852e-01 -1.16530601e-02  1.90477578e+02]
 [ 5.44448358e-01  8.38752199e-01 -8.41040656e-03  5.35233634e+01]
 [ 1.43536042e-02  7.09079244e-04  9.99896730e-01  5.42742325e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.88650248099995
Centerline is valid?  [True, True]
Translation: X:190.52, Y:53.56, Z:5.43
[[ 8.31183934e-01 -5.55875454e-01 -1.16510617e-02  1.90523286e+02]
 [ 5.55812025e-01  8.31265428e-01 -8.41317394e-03  5.35589268e+01]
 [ 1.43618017e-02  5.17094794e-04  9.99896730e-01  5.42825287e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.94650248099995
Centerline is valid?  [True, True]
Translation: X:190.58, Y:53.58, Z:5.43
[[ 8.44442325e-01 -5.35519817e-01 -1.16484165e-02  1.90576899e+02]
 [ 5.35454376e-01  8.44522213e-01 -8.41683482e-03  5.35824898e+01]
 [ 1.43447283e-02  8.70335974e-04  9.99896730e-01  5.42907285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.00650248099996
Centerline is valid?  [True, True]
Translation: X:190.62, Y:53.63, Z:5.43
[[ 8.25124968e-01 -5.64830189e-01 -1.16466745e-02  1.90617474e+02]
 [ 5.64767559e-01  8.25207077e-01 -8.41924455e-03  5.36260893e+01]
 [ 1.43663617e-02  3.69264945e-04  9.99896730e-01  5.42991060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.06650248099996
Centerline is valid?  [True, True]
Translation: X:190.67, Y:53.65, Z:5.43
[[ 8.24293316e-01 -5.66043212e-01 -1.16452041e-02  1.90669067e+02]
 [ 5.65980673e-01  8.24375497e-01 -8.42127792e-03  5.36543457e+01]
 [ 1.43668281e-02  3.50642650e-04  9.99896730e-01  5.43074783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.12650248099996
Centerline is valid?  [True, True]
Translation: X:190.72, Y:53.69, Z:5.43
[[ 8.22959799e-01 -5.67980302e-01 -1.16424534e-02  1.90717011e+02]
 [ 5.67917903e-01  8.23042085e-01 -8.42507911e-03  5.36873448e+01]
 [ 1.43675081e-02  3.21543713e-04  9.99896730e-01  5.43158102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.18650248099996
Centerline is valid?  [True, True]
Translation: X:190.76, Y:53.72, Z:5.43
[[ 8.24007460e-01 -5.66459376e-01 -1.16396227e-02  1.90764360e+02]
 [ 5.66396770e-01  8.24089589e-01 -8.42898790e-03  5.37217562e+01]
 [ 1.43667712e-02  3.52904184e-04  9.99896730e-01  5.43241910e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.24650248099996
Centerline is valid?  [True, True]
Translation: X:190.81, Y:53.76, Z:5.43
[[ 8.14526246e-01 -5.80009980e-01 -1.16369045e-02  1.90806894e+02]
 [ 5.79948688e-01  8.14609360e-01 -8.43273898e-03  5.37620271e+01]
 [ 1.43706041e-02  1.19879728e-04  9.99896730e-01  5.43325069e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.30650248099997
Centerline is valid?  [True, True]
Translation: X:190.85, Y:53.80, Z:5.43
[[ 8.15602160e-01 -5.78496126e-01 -1.16339680e-02  1.90853397e+02]
 [ 5.78434622e-01  8.15685116e-01 -8.43678827e-03  5.37979214e+01]
 [ 1.43703039e-02  1.51572838e-04  9.99896730e-01  5.43409136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.36650248099997
Centerline is valid?  [True, True]
Translation: X:190.90, Y:53.83, Z:5.43
[[ 8.18593952e-01 -5.74254870e-01 -1.16312248e-02  1.90900871e+02]
 [ 5.74192882e-01  8.18676548e-01 -8.44056842e-03  5.38306982e+01]
 [ 1.43692485e-02  2.30831738e-04  9.99896730e-01  5.43491723e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.42650248099997
Centerline is valid?  [True, True]
Translation: X:190.95, Y:53.86, Z:5.44
[[ 8.27123188e-01 -5.61900358e-01 -1.16283559e-02  1.90953512e+02]
 [ 5.61837082e-01  8.27204801e-01 -8.44451903e-03  5.38574168e+01]
 [ 1.43640101e-02  4.51415956e-04  9.99896730e-01  5.43575188e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.48650248099997
Centerline is valid?  [True, True]
Translation: X:191.00, Y:53.89, Z:5.44
[[ 8.31755270e-01 -5.55020735e-01 -1.16255771e-02  1.90998096e+02]
 [ 5.54956731e-01  8.31836313e-01 -8.44834282e-03  5.38943649e+01]
 [ 1.43595827e-02  5.75261377e-04  9.99896730e-01  5.43657930e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.54650248099998
Centerline is valid?  [True, True]
Translation: X:191.04, Y:53.94, Z:5.44
[[ 8.24963969e-01 -5.65065800e-01 -1.16228444e-02  1.91040050e+02]
 [ 5.65002730e-01  8.25045742e-01 -8.45210074e-03  5.39358297e+01]
 [ 1.43653713e-02  4.05739761e-04  9.99896730e-01  5.43741441e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.60650248099995
Centerline is valid?  [True, True]
Translation: X:191.09, Y:53.97, Z:5.44
[[ 8.18394643e-01 -5.74539103e-01 -1.16201642e-02  1.91087072e+02]
 [ 5.74476927e-01  8.18477098e-01 -8.45578387e-03  5.39703465e+01]
 [ 1.43690168e-02  2.44651972e-04  9.99896730e-01  5.43824980e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.66650248099995
Centerline is valid?  [True, True]
Translation: X:191.13, Y:54.01, Z:5.44
[[ 8.13578126e-01 -5.81339547e-01 -1.16174228e-02  1.91132219e+02]
 [ 5.81278007e-01  8.13661056e-01 -8.45954871e-03  5.40057380e+01]
 [ 1.43705147e-02  1.29551422e-04  9.99896730e-01  5.43907074e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.72650248099995
Centerline is valid?  [True, True]
Translation: X:191.18, Y:54.04, Z:5.44
[[ 8.09376714e-01 -5.87174939e-01 -1.16157132e-02  1.91177868e+02]
 [ 5.87113964e-01  8.09460061e-01 -8.46189539e-03  5.40425361e+01]
 [ 1.43710689e-02  2.91136434e-05  9.99896730e-01  5.43991057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.78650248099996
Centerline is valid?  [True, True]
Translation: X:191.22, Y:54.08, Z:5.44
[[ 8.07123375e-01 -5.90268578e-01 -1.16130622e-02  1.91224218e+02]
 [ 5.90207869e-01  8.07206916e-01 -8.46553208e-03  5.40783356e+01]
 [ 1.43710817e-02 -2.13918841e-05  9.99896730e-01  5.44074908e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.84650248099996
Centerline is valid?  [True, True]
Translation: X:191.27, Y:54.11, Z:5.44
[[ 8.02650621e-01 -5.96336466e-01 -1.16103302e-02  1.91270306e+02]
 [ 5.96276335e-01  8.02734579e-01 -8.46927740e-03  5.41132585e+01]
 [ 1.43705524e-02 -1.25094350e-04  9.99896730e-01  5.44157704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.90650248099996
Centerline is valid?  [True, True]
Translation: X:191.32, Y:54.14, Z:5.44
[[ 8.06071304e-01 -5.91704592e-01 -1.16072785e-02  1.91322250e+02]
 [ 5.91643918e-01  8.06154870e-01 -8.47345773e-03  5.41407322e+01]
 [ 1.43710479e-02 -3.71645956e-05  9.99896730e-01  5.44240951e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.96650248099996
Centerline is valid?  [True, True]
Translation: X:191.37, Y:54.18, Z:5.44
[[ 8.05398908e-01 -5.92619537e-01 -1.16053246e-02  1.91367256e+02]
 [ 5.92558920e-01  8.05482515e-01 -8.47613287e-03  5.41755607e+01]
 [ 1.43710080e-02 -5.01704809e-05  9.99896730e-01  5.44322496e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 204.02650248099997
Centerline is valid?  [True, True]
Translation: X:191.41, Y:54.21, Z:5.44
[[ 8.05265243e-01 -5.92801194e-01 -1.16031537e-02  1.91414326e+02]
 [ 5.92740553e-01  8.05348832e-01 -8.47910371e-03  5.42078597e+01]
 [ 1.43710091e-02 -4.97322184e-05  9.99896730e-01  5.44404268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.08650248099997
Centerline is valid?  [True, True]
Translation: X:191.46, Y:54.24, Z:5.44
[[ 7.99889607e-01 -6.00035012e-01 -1.16017628e-02  1.91460655e+02]
 [ 5.99975099e-01  7.99973720e-01 -8.48100637e-03  5.42433022e+01]
 [ 1.43700061e-02 -1.76899933e-04  9.99896730e-01  5.44487930e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.14650248099997
Centerline is valid?  [True, True]
Translation: X:191.51, Y:54.27, Z:5.45
[[ 8.01997259e-01 -5.97215085e-01 -1.15990597e-02  1.91513558e+02]
 [ 5.97154823e-01  8.02081123e-01 -8.48470172e-03  5.42707396e+01]
 [ 1.43705787e-02 -1.21726890e-04  9.99896730e-01  5.44572282e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.20650248099997
Centerline is valid?  [True, True]
Translation: X:191.56, Y:54.30, Z:5.45
[[ 8.00016979e-01 -5.99865284e-01 -1.15963412e-02  1.91562515e+02]
 [ 5.99805245e-01  8.00101003e-01 -8.48841558e-03  5.43031151e+01]
 [ 1.43701500e-02 -1.64669664e-04  9.99896731e-01  5.44656240e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.26650248099997
Centerline is valid?  [True, True]
Translation: X:191.60, Y:54.35, Z:5.45
[[ 7.89246572e-01 -6.13966968e-01 -1.15935868e-02  1.91599143e+02]
 [ 6.13908375e-01  7.89331610e-01 -8.49217581e-03  5.43498956e+01]
 [ 1.43651000e-02 -4.14979404e-04  9.99896731e-01  5.44738131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.32650248099998
Centerline is valid?  [True, True]
Translation: X:191.64, Y:54.39, Z:5.45
[[ 7.94268202e-01 -6.07456715e-01 -1.15914844e-02  1.91642322e+02]
 [ 6.07397383e-01  7.94352726e-01 -8.49504453e-03  5.43893382e+01]
 [ 1.43680991e-02 -2.93293560e-04  9.99896731e-01  5.44821465e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.38650248099995
Centerline is valid?  [True, True]
Translation: X:191.69, Y:54.42, Z:5.45
[[ 7.99738110e-01 -6.00237168e-01 -1.15886713e-02  1.91689011e+02]
 [ 6.00177017e-01  7.99822053e-01 -8.49888044e-03  5.44242980e+01]
 [ 1.43702188e-02 -1.58375565e-04  9.99896731e-01  5.44904986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.44650248099995
Centerline is valid?  [True, True]
Translation: X:191.74, Y:54.45, Z:5.45
[[ 8.05172789e-01 -5.92927099e-01 -1.15859702e-02  1.91738665e+02]
 [ 5.92866133e-01  8.05256142e-01 -8.50256097e-03  5.44549934e+01]
 [ 1.43710725e-02 -2.28986413e-05  9.99896731e-01  5.44988329e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.50650248099996
Centerline is valid?  [True, True]
Translation: X:191.78, Y:54.49, Z:5.45
[[ 8.05356078e-01 -5.92678172e-01 -1.15832745e-02  1.91784613e+02]
 [ 5.92617128e-01  8.05439373e-01 -8.50623186e-03  5.44900541e+01]
 [ 1.43710833e-02 -1.39013322e-05  9.99896731e-01  5.45071088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.56650248099996
Centerline is valid?  [True, True]
Translation: X:191.83, Y:54.52, Z:5.45
[[ 8.06880680e-01 -5.90600929e-01 -1.15806085e-02  1.91833684e+02]
 [ 5.90539618e-01  8.06963780e-01 -8.50985989e-03  5.45216137e+01]
 [ 1.43710628e-02  2.76334222e-05  9.99896731e-01  5.45154490e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.62650248099996
Centerline is valid?  [True, True]
Translation: X:191.88, Y:54.56, Z:5.45
[[ 8.02640803e-01 -5.96350309e-01 -1.15780115e-02  1.91881572e+02]
 [ 5.96289543e-01  8.02724301e-01 -8.51339174e-03  5.45551430e+01]
 [ 1.43709150e-02 -7.06516004e-05  9.99896731e-01  5.45238202e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.68650248099996
Centerline is valid?  [True, True]
Translation: X:191.92, Y:54.60, Z:5.45
[[ 8.12014206e-01 -5.83522874e-01 -1.15751917e-02  1.91922594e+02]
 [ 5.83460733e-01  8.12096687e-01 -8.51722396e-03  5.45972251e+01]
 [ 1.43701698e-02  1.62437020e-04  9.99896731e-01  5.45321226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.74650248099996
Centerline is valid?  [True, True]
Translation: X:191.97, Y:54.63, Z:5.45
[[ 8.11267755e-01 -5.84560266e-01 -1.15726110e-02  1.91971557e+02]
 [ 5.84498181e-01  8.11350278e-01 -8.52072890e-03  5.46295372e+01]
 [ 1.43703207e-02  1.48422505e-04  9.99896731e-01  5.45405150e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.80650248099997
Centerline is valid?  [True, True]
Translation: X:192.02, Y:54.66, Z:5.45
[[ 8.11401467e-01 -5.84374708e-01 -1.15697491e-02  1.92019586e+02]
 [ 5.84312549e-01  8.11483934e-01 -8.52461326e-03  5.46637479e+01]
 [ 1.43702339e-02  1.56534143e-04  9.99896731e-01  5.45489578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.86650248099997
Centerline is valid?  [True, True]
Translation: X:192.06, Y:54.70, Z:5.46
[[ 8.12008467e-01 -5.83531018e-01 -1.15672238e-02  1.92064295e+02]
 [ 5.83468724e-01  8.12090833e-01 -8.52803843e-03  5.47009271e+01]
 [ 1.43700114e-02  1.75726086e-04  9.99896731e-01  5.45572733e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.92650248099997
Centerline is valid?  [True, True]
Translation: X:192.11, Y:54.73, Z:5.46
[[ 8.08496667e-01 -5.88387121e-01 -1.15643669e-02  1.92111067e+02]
 [ 5.88325267e-01  8.08579363e-01 -8.53191077e-03  5.47333164e+01]
 [ 1.43707748e-02  9.44121894e-05  9.99896731e-01  5.45654154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.98650248099997
Centerline is valid?  [True, True]
Translation: X:192.16, Y:54.77, Z:5.46
[[ 8.08073986e-01 -5.88967530e-01 -1.15620494e-02  1.92157648e+02]
 [ 5.88905690e-01  8.08156693e-01 -8.53505012e-03  5.47679519e+01]
 [ 1.43708150e-02  8.79952676e-05  9.99896731e-01  5.45737329e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.04650248099998
Centerline is valid?  [True, True]
Translation: X:192.20, Y:54.80, Z:5.46
[[ 8.08089802e-01 -5.88945886e-01 -1.15591734e-02  1.92203905e+02]
 [ 5.88883989e-01  8.08172466e-01 -8.53894341e-03  5.48039002e+01]
 [ 1.43707813e-02  9.32209470e-05  9.99896731e-01  5.45821189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.10650248099995
Centerline is valid?  [True, True]
Translation: X:192.25, Y:54.84, Z:5.46
[[ 8.08123628e-01 -5.88899529e-01 -1.15562438e-02  1.92249667e+02]
 [ 5.88837570e-01  8.08206245e-01 -8.54290644e-03  5.48376763e+01]
 [ 1.43707420e-02  9.89740537e-05  9.99896731e-01  5.45902618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.16650248099995
Centerline is valid?  [True, True]
Translation: X:192.29, Y:54.87, Z:5.46
[[ 8.07669329e-01 -5.89522479e-01 -1.15542762e-02  1.92294954e+02]
 [ 5.89460546e-01  8.07751966e-01 -8.54556675e-03  5.48745675e+01]
 [ 1.43707930e-02  9.12022220e-05  9.99896731e-01  5.45986264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 205.22650248099995
Centerline is valid?  [True, True]
Translation: X:192.34, Y:54.91, Z:5.46
[[ 8.07817421e-01 -5.89319589e-01 -1.15514935e-02  1.92341208e+02]
 [ 5.89257581e-01  8.07900002e-01 -8.54932664e-03  5.49097080e+01]
 [ 1.43707372e-02  9.94899057e-05  9.99896731e-01  5.46069445e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.28650248099996
Centerline is valid?  [True, True]
Translation: X:192.39, Y:54.95, Z:5.46
[[ 8.07883670e-01 -5.89228817e-01 -1.15489103e-02  1.92387154e+02]
 [ 5.89166750e-01  8.07966206e-01 -8.55281470e-03  5.49461039e+01]
 [ 1.43706941e-02  1.05445371e-04  9.99896731e-01  5.46153366e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.34650248099996
Centerline is valid?  [True, True]
Translation: X:192.43, Y:54.98, Z:5.46
[[ 8.08499550e-01 -5.88383500e-01 -1.15470506e-02  1.92433376e+02]
 [ 5.88321311e-01  8.08581994e-01 -8.55532466e-03  5.49822136e+01]
 [ 1.43705491e-02  1.23600165e-04  9.99896731e-01  5.46237439e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.40650248099996
Centerline is valid?  [True, True]
Translation: X:192.48, Y:55.02, Z:5.46
[[ 8.09298283e-01 -5.87284443e-01 -1.15443435e-02  1.92479632e+02]
 [ 5.87222090e-01  8.09380604e-01 -8.55897602e-03  5.50180376e+01]
 [ 1.43703212e-02  1.47671070e-04  9.99896731e-01  5.46321218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.46650248099996
Centerline is valid?  [True, True]
Translation: X:192.53, Y:55.05, Z:5.46
[[ 8.11509142e-01 -5.84225730e-01 -1.15416149e-02  1.92525090e+02]
 [ 5.84163014e-01  8.11591186e-01 -8.56265391e-03  5.50543551e+01]
 [ 1.43695957e-02  2.06487361e-04  9.99896731e-01  5.46404497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.52650248099997
Centerline is valid?  [True, True]
Translation: X:192.57, Y:55.09, Z:5.46
[[ 8.03850691e-01 -5.94719197e-01 -1.15387539e-02  1.92569459e+02]
 [ 5.94657497e-01  8.03933502e-01 -8.56650761e-03  5.50927392e+01]
 [ 1.43710574e-02  2.45865558e-05  9.99896731e-01  5.46488277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.58650248099997
Centerline is valid?  [True, True]
Translation: X:192.61, Y:55.13, Z:5.47
[[ 8.05248398e-01 -5.92825389e-01 -1.15358747e-02  1.92614562e+02]
 [ 5.92763439e-01  8.05331022e-01 -8.57038305e-03  5.51278148e+01]
 [ 1.43709384e-02  6.32424683e-05  9.99896731e-01  5.46570070e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.64650248099997
Centerline is valid?  [True, True]
Translation: X:192.66, Y:55.17, Z:5.47
[[ 8.05535344e-01 -5.92435477e-01 -1.15332016e-02  1.92658234e+02]
 [ 5.92373436e-01  8.05617899e-01 -8.57397872e-03  5.51668454e+01]
 [ 1.43708828e-02  7.46806266e-05  9.99896731e-01  5.46653628e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.70650248099997
Centerline is valid?  [True, True]
Translation: X:192.71, Y:55.20, Z:5.47
[[ 8.05864139e-01 -5.91988207e-01 -1.15304980e-02  1.92705387e+02]
 [ 5.91926067e-01  8.05946621e-01 -8.57761311e-03  5.52020513e+01]
 [ 1.43708117e-02  8.71884889e-05  9.99896731e-01  5.46737921e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.76650248099997
Centerline is valid?  [True, True]
Translation: X:192.75, Y:55.24, Z:5.47
[[ 8.04952695e-01 -5.93226996e-01 -1.15277771e-02  1.92751516e+02]
 [ 5.93164931e-01  8.05035233e-01 -8.58126817e-03  5.52380253e+01]
 [ 1.43709067e-02  6.96418051e-05  9.99896731e-01  5.46821689e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.82650248099995
Centerline is valid?  [True, True]
Translation: X:192.80, Y:55.26, Z:5.47
[[ 8.06268651e-01 -5.91437270e-01 -1.15246809e-02  1.92803957e+02]
 [ 5.91374962e-01  8.06351006e-01 -8.58542437e-03  5.52633578e+01]
 [ 1.43706780e-02  1.06750764e-04  9.99896731e-01  5.46903559e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.88650248099995
Centerline is valid?  [True, True]
Translation: X:192.85, Y:55.29, Z:5.47
[[ 8.01996539e-01 -5.97217529e-01 -1.15227676e-02  1.92854354e+02]
 [ 5.97155778e-01  8.02079312e-01 -8.58799156e-03  5.52930299e+01]
 [ 1.43710726e-02  6.65226231e-06  9.99896731e-01  5.46986916e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.94650248099995
Centerline is valid?  [True, True]
Translation: X:192.90, Y:55.33, Z:5.47
[[ 7.99349453e-01 -6.00755981e-01 -1.15196651e-02  1.92902033e+02]
 [ 6.00694537e-01  7.99432454e-01 -8.59215118e-03  5.53251190e+01]
 [ 1.43709803e-02 -5.16685304e-05  9.99896731e-01  5.47069086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.00650248099996
Centerline is valid?  [True, True]
Translation: X:192.95, Y:55.36, Z:5.47
[[ 8.00203982e-01 -5.99617341e-01 -1.15165762e-02  1.92947235e+02]
 [ 5.99555719e-01  8.00286851e-01 -8.59628934e-03  5.53606425e+01]
 [ 1.43710487e-02 -2.60441985e-05  9.99896731e-01  5.47151354e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.06650248099996
Centerline is valid?  [True, True]
Translation: X:192.99, Y:55.40, Z:5.47
[[ 7.96240108e-01 -6.04871165e-01 -1.15136790e-02  1.92994149e+02]
 [ 6.04810034e-01  7.96323339e-01 -8.60016811e-03  5.53959020e+01]
 [ 1.43706050e-02 -1.15789792e-04  9.99896731e-01  5.47235388e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.12650248099996
Centerline is valid?  [True, True]
Translation: X:193.05, Y:55.42, Z:5.47
[[ 8.00067538e-01 -5.99799497e-01 -1.15107968e-02  1.93047042e+02]
 [ 5.99737783e-01  8.00150338e-01 -8.60402399e-03  5.54208210e+01]
 [ 1.43710572e-02 -1.96594638e-05  9.99896731e-01  5.47317410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.18650248099996
Centerline is valid?  [True, True]
Translation: X:193.09, Y:55.46, Z:5.47
[[ 8.00388489e-01 -5.99371199e-01 -1.15079547e-02  1.93093930e+02]
 [ 5.99309385e-01  8.00471215e-01 -8.60782364e-03  5.54561432e+01]
 [ 1.43710681e-02 -7.22231130e-06  9.99896731e-01  5.47401469e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.24650248099996
Centerline is valid?  [True, True]
Translation: X:193.14, Y:55.49, Z:5.47
[[ 8.00632313e-01 -5.99045517e-01 -1.15051373e-02  1.93140329e+02]
 [ 5.98983616e-01  8.00714973e-01 -8.61158773e-03  5.54894067e+01]
 [ 1.43710687e-02  3.32665820e-06  9.99896731e-01  5.47483196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.30650248099997
Centerline is valid?  [True, True]
Translation: X:193.18, Y:55.53, Z:5.48
[[ 7.88522459e-01 -6.14898373e-01 -1.15031675e-02  1.93184546e+02]
 [ 6.14838094e-01  7.88606311e-01 -8.61421811e-03  5.55262214e+01]
 [ 1.43683392e-02 -2.80081150e-04  9.99896731e-01  5.47565563e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.36650248099997
Centerline is valid?  [True, True]
Translation: X:193.23, Y:55.56, Z:5.48
[[ 7.86642711e-01 -6.17301361e-01 -1.15010809e-02  1.93233984e+02]
 [ 6.17241299e-01  7.86726716e-01 -8.61700314e-03  5.55580182e+01]
 [ 1.43674954e-02 -3.20439394e-04  9.99896731e-01  5.47649602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 206.42650248099997
Centerline is valid?  [True, True]
Translation: X:193.28, Y:55.59, Z:5.48
[[ 7.82298245e-01 -6.22797919e-01 -1.14981840e-02  1.93279993e+02]
 [ 6.22738390e-01  7.82382629e-01 -8.62086686e-03  5.55910406e+01]
 [ 1.43650374e-02 -4.16271585e-04  9.99896731e-01  5.47730660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.48650248099997
Centerline is valid?  [True, True]
Translation: X:193.33, Y:55.62, Z:5.48
[[ 7.85343944e-01 -6.18952935e-01 -1.14958450e-02  1.93328013e+02]
 [ 6.18892946e-01  7.85428003e-01 -8.62398480e-03  5.56235054e+01]
 [ 1.43669993e-02 -3.41903150e-04  9.99896731e-01  5.47813611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.54650248099998
Centerline is valid?  [True, True]
Translation: X:193.38, Y:55.65, Z:5.48
[[ 7.82001024e-01 -6.23171171e-01 -1.14930549e-02  1.93375700e+02]
 [ 6.23111581e-01  7.82085366e-01 -8.62770151e-03  5.56540949e+01]
 [ 1.43650849e-02 -4.14584204e-04  9.99896731e-01  5.47894508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.60650248099995
Centerline is valid?  [True, True]
Translation: X:193.43, Y:55.68, Z:5.48
[[ 7.81169969e-01 -6.24212657e-01 -1.14908039e-02  1.93425637e+02]
 [ 6.24153136e-01  7.81254359e-01 -8.63069846e-03  5.56841031e+01]
 [ 1.43646319e-02 -4.29978851e-04  9.99896731e-01  5.47977544e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.66650248099995
Centerline is valid?  [True, True]
Translation: X:193.47, Y:55.72, Z:5.48
[[ 7.77931855e-01 -6.28243627e-01 -1.14879626e-02  1.93470391e+02]
 [ 6.28184488e-01  7.78016513e-01 -8.63447874e-03  5.57212919e+01]
 [ 1.43623809e-02 -4.99523851e-04  9.99896731e-01  5.48060757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.72650248099995
Centerline is valid?  [True, True]
Translation: X:193.52, Y:55.76, Z:5.48
[[ 7.78344619e-01 -6.27732230e-01 -1.14848513e-02  1.93515258e+02]
 [ 6.27672974e-01  7.78429195e-01 -8.63861512e-03  5.57573207e+01]
 [ 1.43628807e-02 -4.84911194e-04  9.99896731e-01  5.48143069e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.78650248099996
Centerline is valid?  [True, True]
Translation: X:193.55, Y:55.80, Z:5.48
[[ 7.66139902e-01 -6.42571258e-01 -1.14817156e-02  1.93552980e+02]
 [ 6.42513575e-01  7.66225559e-01 -8.64278084e-03  5.58037416e+01]
 [ 1.43511865e-02 -7.55578895e-04  9.99896731e-01  5.48226157e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.84650248099996
Centerline is valid?  [True, True]
Translation: X:193.60, Y:55.84, Z:5.48
[[ 7.65530528e-01 -6.43297170e-01 -1.14787602e-02  1.93597273e+02]
 [ 6.43239510e-01  7.65616201e-01 -8.64670421e-03  5.58382052e+01]
 [ 1.43507251e-02 -7.64276057e-04  9.99896731e-01  5.48306484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.90650248099996
Centerline is valid?  [True, True]
Translation: X:193.66, Y:55.84, Z:5.48
[[ 7.81882571e-01 -6.23320113e-01 -1.14753199e-02  1.93664371e+02]
 [ 6.23260193e-01  7.81966679e-01 -8.65126756e-03  5.58445616e+01]
 [ 1.43658269e-02 -3.87834787e-04  9.99896731e-01  5.48388612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.96650248099996
Centerline is valid?  [True, True]
Translation: X:193.70, Y:55.89, Z:5.48
[[ 7.74545280e-01 -6.32414421e-01 -1.14721314e-02  1.93704261e+02]
 [ 6.32355426e-01  7.74630039e-01 -8.65549367e-03  5.58864772e+01]
 [ 1.43605166e-02 -5.50392763e-04  9.99896731e-01  5.48470294e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.02650248099997
Centerline is valid?  [True, True]
Translation: X:193.73, Y:55.95, Z:5.49
[[ 7.56489015e-01 -6.53905829e-01 -1.14689579e-02  1.93728470e+02]
 [ 6.53849174e-01  7.56575355e-01 -8.65969670e-03  5.59510704e+01]
 [ 1.43397570e-02 -9.48003204e-04  9.99896731e-01  5.48553643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.08650248099997
Centerline is valid?  [True, True]
Translation: X:193.78, Y:55.98, Z:5.49
[[ 7.57679928e-01 -6.52525585e-01 -1.14668280e-02  1.93776294e+02]
 [ 6.52468730e-01  7.57766136e-01 -8.66251606e-03  5.59845863e+01]
 [ 1.43416873e-02 -9.18332167e-04  9.99896731e-01  5.48637294e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.14650248099997
Centerline is valid?  [True, True]
Translation: X:193.82, Y:56.02, Z:5.49
[[ 7.57345368e-01 -6.52913909e-01 -1.14639056e-02  1.93820984e+02]
 [ 6.52857039e-01  7.57431568e-01 -8.66638181e-03  5.60217222e+01]
 [ 1.43415252e-02 -9.20847364e-04  9.99896731e-01  5.48720403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.20650248099997
Centerline is valid?  [True, True]
Translation: X:193.87, Y:56.05, Z:5.49
[[ 7.58332151e-01 -6.51767593e-01 -1.14609283e-02  1.93867081e+02]
 [ 6.51710535e-01  7.58418225e-01 -8.67031735e-03  5.60548879e+01]
 [ 1.43432088e-02 -8.94227327e-04  9.99896731e-01  5.48801678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.26650248099997
Centerline is valid?  [True, True]
Translation: X:193.91, Y:56.09, Z:5.49
[[ 7.58050941e-01 -6.52094696e-01 -1.14576425e-02  1.93912909e+02]
 [ 6.52037609e-01  7.58136997e-01 -8.67465734e-03  5.60902170e+01]
 [ 1.43431607e-02 -8.94981667e-04  9.99896731e-01  5.48884486e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.32650248099995
Centerline is valid?  [True, True]
Translation: X:193.96, Y:56.12, Z:5.49
[[ 7.60334759e-01 -6.49430402e-01 -1.14545518e-02  1.93959475e+02]
 [ 6.49372953e-01  7.60420573e-01 -8.67873662e-03  5.61234011e+01]
 [ 1.43465122e-02 -8.39530991e-04  9.99896731e-01  5.48966300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.38650248099995
Centerline is valid?  [True, True]
Translation: X:194.01, Y:56.16, Z:5.49
[[ 7.61661166e-01 -6.47874321e-01 -1.14513392e-02  1.94005040e+02]
 [ 6.47816632e-01  7.61746819e-01 -8.68297340e-03  5.61596002e+01]
 [ 1.43484967e-02 -8.04884379e-04  9.99896731e-01  5.49049572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.44650248099995
Centerline is valid?  [True, True]
Translation: X:194.05, Y:56.20, Z:5.49
[[ 7.62937504e-01 -6.46370869e-01 -1.14484039e-02  1.94050494e+02]
 [ 6.46312954e-01  7.63023004e-01 -8.68684181e-03  5.61954472e+01]
 [ 1.43503171e-02 -7.71734364e-04  9.99896731e-01  5.49132440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.50650248099996
Centerline is valid?  [True, True]
Translation: X:194.09, Y:56.23, Z:5.49
[[ 7.60442913e-01 -6.49303903e-01 -1.14463372e-02  1.94094308e+02]
 [ 6.49246277e-01  7.60528608e-01 -8.68956424e-03  5.62341543e+01]
 [ 1.43474349e-02 -8.23574264e-04  9.99896731e-01  5.49216012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.56650248099996
Centerline is valid?  [True, True]
Translation: X:194.14, Y:56.27, Z:5.49
[[ 7.52378532e-01 -6.58631610e-01 -1.14431980e-02  1.94136805e+02]
 [ 6.58574983e-01  7.52464891e-01 -8.69369625e-03  5.62729394e+01]
 [ 1.43365479e-02 -9.95253505e-04  9.99896731e-01  5.49298033e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 207.62650248099996
Centerline is valid?  [True, True]
Translation: X:194.18, Y:56.31, Z:5.49
[[ 7.44613180e-01 -6.67398168e-01 -1.14410516e-02  1.94183774e+02]
 [ 6.67342513e-01  7.44700168e-01 -8.69651999e-03  5.63068162e+01]
 [ 1.43241946e-02 -1.15955674e-03  9.99896731e-01  5.49381013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.68650248099996
Centerline is valid?  [True, True]
Translation: X:194.23, Y:56.34, Z:5.49
[[ 7.42505662e-01 -6.69742126e-01 -1.14379607e-02  1.94230251e+02]
 [ 6.69686683e-01  7.42592786e-01 -8.70058337e-03  5.63405899e+01]
 [ 1.43208943e-02 -1.19961756e-03  9.99896731e-01  5.49463237e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.74650248099996
Centerline is valid?  [True, True]
Translation: X:194.28, Y:56.38, Z:5.50
[[ 7.38183910e-01 -6.74502603e-01 -1.14347862e-02  1.94276848e+02]
 [ 6.74447658e-01  7.38271348e-01 -8.70475353e-03  5.63755406e+01]
 [ 1.43133539e-02 -1.28645576e-03  9.99896731e-01  5.49546613e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.80650248099997
Centerline is valid?  [True, True]
Translation: X:194.32, Y:56.41, Z:5.50
[[ 7.40194253e-01 -6.72295905e-01 -1.14317038e-02  1.94323984e+02]
 [ 6.72240638e-01  7.40281488e-01 -8.70879960e-03  5.64083348e+01]
 [ 1.43175690e-02 -1.23865246e-03  9.99896731e-01  5.49628737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.86650248099997
Centerline is valid?  [True, True]
Translation: X:194.37, Y:56.44, Z:5.50
[[ 7.44592326e-01 -6.67421652e-01 -1.14282902e-02  1.94369554e+02]
 [ 6.67365745e-01  7.44679153e-01 -8.71327688e-03  5.64422906e+01]
 [ 1.43258391e-02 -1.13901032e-03  9.99896731e-01  5.49710045e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.92650248099997
Centerline is valid?  [True, True]
Translation: X:194.42, Y:56.47, Z:5.50
[[ 7.56053868e-01 -6.54409669e-01 -1.14251617e-02  1.94420068e+02]
 [ 6.54352203e-01  7.56139671e-01 -8.71737721e-03  5.64717018e+01]
 [ 1.43437539e-02 -8.85272958e-04  9.99896731e-01  5.49793070e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.98650248099997
Centerline is valid?  [True, True]
Translation: X:194.46, Y:56.51, Z:5.50
[[ 7.56644758e-01 -6.53726415e-01 -1.14229861e-02  1.94463657e+02]
 [ 6.53668829e-01  7.56730480e-01 -8.72022715e-03  5.65096704e+01]
 [ 1.43447646e-02 -8.68735758e-04  9.99896731e-01  5.49875744e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.04650248099998
Centerline is valid?  [True, True]
Translation: X:194.51, Y:56.54, Z:5.50
[[ 7.57081874e-01 -6.53220178e-01 -1.14208551e-02  1.94509287e+02]
 [ 6.53162493e-01  7.57167529e-01 -8.72301714e-03  5.65447445e+01]
 [ 1.43455515e-02 -8.55636033e-04  9.99896731e-01  5.49958231e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]


 Total time of SLAM: 2077.79 sec!

=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Saving Lidar 3D alignment track ...                        Completed!
Saving Lidar 2D alignment track ...                        Completed!
Writing Lidar 2D slices PTD file in binary format...       Completed!
Filtering the 2D slices ...
|- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal!
 The alignment track is not used for filteration!

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Writing Lidar 2D slices PTD file in binary format...       Completed!
+ DATADIR=/working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6/processing/data
+ cp /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6/processing/data/alignment.track.json /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6/processing/data/alignment_slam.track.json