+ python -m lidar_slam --result /working/result.json --no-model /working/6dcbed11-6d69-459f-ab03-dc6521747d62
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Created default flags file: /working/6dcbed11-6d69-459f-ab03-dc6521747d62/processing/data/lidarslam.flags
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Lidar SLAM 0.0.17
=====================================================
 The recording path: /working/6dcbed11-6d69-459f-ab03-dc6521747d62
 The start distance for SLAM: 0.0
 The end distance for SLAM: 9.223372036854776e+18
 The step lidar is being SLAMMed with: 0.06
 Using the pointcloud ICP: False
 The Lidar frames will be flattened: False
 The centerline will be flattened: True
 The Lidar 2D slices will be flipped: True
 Correction angle of Lidar frames: 0.0
 Show the detected centerline?: False
 Display the final 3D model?: False
 Making 2D slices out of SLAM model?: False
 Drop angle of 2D slices: 45.0
 The number of points in 2D slices: 360
=====================================================
Adjusted start_distance from 0.0 to 0.004860624
Adjusted end_distance from 9.223372036854776e+18 to 160.964860624
 -=-=-> Lidar cleaning parameters file not found.
 --> Creating a generic default one.

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Averaged over 500 frames
Averaged shape: 193 points (N x 2)
Shape size (median max width): 2.0768

 SLAMing on 0.004860624 meters
Centerline goodness : 0.928054 with order 1
Centerline is valid?  [0, False]

 SLAMing on 0.06486062399999999 meters
Centerline goodness : 0.906406 with order 1
Centerline is valid?  [False, False]
Translation: X:0.04, Y:0.00, Z:0.00
[[ 9.99998811e-01 -1.41749646e-03  6.07426173e-04  3.74551427e-02]
 [ 1.41970166e-03  9.99992347e-01 -3.64547792e-03  4.72960955e-03]
 [-6.02254073e-04  3.64633595e-03  9.99993171e-01  1.62576805e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 0.12486062399999998 meters
Centerline goodness : 0.929885 with order 1
Centerline is valid?  [False, False]
Translation: X:0.09, Y:0.01, Z:0.00
[[ 0.99998576 -0.00519235  0.00123595  0.09227047]
 [ 0.00520203  0.99995477 -0.00796238  0.01183026]
 [-0.00119455  0.0079687   0.99996754  0.00486633]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.18486062399999997 meters
Centerline goodness : 0.145795 with order 1
Centerline is valid?  [False, False]
Translation: X:0.13, Y:0.02, Z:0.01
[[ 0.99995738 -0.00900025  0.00205573  0.1320499 ]
 [ 0.00902514  0.99988197 -0.01243388  0.01726489]
 [-0.00194358  0.0124519   0.99992058  0.00731299]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.24486062399999997 meters
Centerline goodness : 0.147251 with order 1
Centerline is valid?  [False, False]
Translation: X:0.17, Y:0.02, Z:0.01
[[ 9.99937144e-01 -1.12012870e-02  4.88515697e-04  1.72947518e-01]
 [ 1.12070636e-02  9.99837735e-01 -1.41033973e-02  2.18943984e-02]
 [-3.30460228e-04  1.41079856e-02  9.99900423e-01  7.52477503e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 0.3048606239999999 meters
Centerline goodness : 0.162350 with order 1
Centerline is valid?  [False, False]
Translation: X:0.24, Y:0.03, Z:0.01
[[ 0.99987775 -0.01531371 -0.00315964  0.23505598]
 [ 0.01526702  0.99978111 -0.01430559  0.02701087]
 [ 0.00337802  0.0142556   0.99989268  0.00526725]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.3648606239999999 meters
Centerline goodness : 0.172615 with order 1
Centerline is valid?  [False, False]
Translation: X:0.28, Y:0.03, Z:0.01
[[ 0.99982675 -0.01719177 -0.00713529  0.28265939]
 [ 0.01706444  0.99970057 -0.01753796  0.03177616]
 [ 0.00743467  0.01741317  0.99982074  0.00782981]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.4248606239999999 meters
Centerline goodness : 0.142451 with order 1
Centerline is valid?  [False, False]
Translation: X:0.34, Y:0.04, Z:0.01
[[ 0.99978398 -0.01820542 -0.01002792  0.34434258]
 [ 0.01795571  0.99953973 -0.0244525   0.04035888]
 [ 0.01046847  0.02426716  0.9996507   0.00821709]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.4848606239999999 meters
Centerline goodness : 0.126341 with order 1
Centerline is valid?  [False, False]
Translation: X:0.40, Y:0.05, Z:0.00
[[ 0.99982693 -0.01636876 -0.00884128  0.39601218]
 [ 0.01613207  0.9995263  -0.02620925  0.04880198]
 [ 0.0092661   0.02606209  0.99961738  0.00399423]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.5448606239999999 meters
Centerline goodness : 0.000000 with order 1
Centerline is valid?  [False, False]
Translation: X:0.45, Y:0.05, Z:0.01
[[ 0.99983491 -0.01281598 -0.01288038  0.44932942]
 [ 0.01248313  0.99959438 -0.02559763  0.05395163]
 [ 0.01320322  0.02543262  0.99958934  0.00732578]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.6048606239999998 meters
Centerline goodness : 0.000000 with order 1
Centerline is valid?  [False, False]
Translation: X:0.52, Y:0.06, Z:0.01
[[ 0.99981015 -0.01116365 -0.01596972  0.52280272]
 [ 0.01075735  0.99962188 -0.02530561  0.06170419]
 [ 0.01624618  0.02512901  0.9995522   0.00784485]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.6648606239999999 meters
Centerline goodness : 0.000000 with order 1
Centerline is valid?  [False, False]
Translation: X:0.57, Y:0.06, Z:-0.01
[[ 0.99985111 -0.01173346 -0.01265252  0.56515453]
 [ 0.0113937   0.99958124 -0.02659938  0.06217148]
 [ 0.01295932  0.02645126  0.9995661  -0.00595536]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.7248606239999998 meters
Centerline goodness : 0.254089 with order 1
Centerline is valid?  [False, False]
Translation: X:0.63, Y:0.08, Z:0.01
[[ 0.99954586 -0.0223854  -0.02017349  0.63421446]
 [ 0.02158801  0.99900936 -0.0389134   0.07561519]
 [ 0.0210246   0.03846022  0.99903893  0.00978901]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.7848606239999999 meters
Centerline goodness : 0.304515 with order 1
Centerline is valid?  [False, False]
Translation: X:0.70, Y:0.08, Z:0.02
[[ 0.9991642  -0.03351069 -0.023408    0.69656644]
 [ 0.03255389  0.99866422 -0.04012496  0.08331106]
 [ 0.02472135  0.0393294   0.99892044  0.01502027]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.8448606239999998 meters
Centerline goodness : 0.214108 with order 1
Centerline is valid?  [False, False]
Translation: X:0.74, Y:0.08, Z:0.02
[[ 0.99898183 -0.03941005 -0.02195792  0.73757598]
 [ 0.03845507  0.99836308 -0.04233625  0.08403223]
 [ 0.02359045  0.04144875  0.9988621   0.01502937]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.9048606239999999 meters
Centerline goodness : 0.221904 with order 1
Centerline is valid?  [False, False]
Translation: X:0.78, Y:0.09, Z:0.02
[[ 0.99875404 -0.04624158 -0.01876413  0.78026903]
 [ 0.04542722  0.99809593 -0.0417238   0.08613477]
 [ 0.02065778  0.04081942  0.99895297  0.01503793]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 0.9648606239999998 meters
Centerline goodness : 0.210511 with order 1
Centerline is valid?  [False, False]
Translation: X:0.85, Y:0.09, Z:0.02
[[ 0.99818533 -0.0576164  -0.01750415  0.84706245]
 [ 0.05681486  0.99744637 -0.043276    0.09156245]
 [ 0.01995286  0.04220297  0.9989098   0.0166118 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.0248606239999998 meters
Centerline goodness : 0.302273 with order 1
Centerline is valid?  [False, False]
Translation: X:0.89, Y:0.10, Z:0.02
[[ 0.99781859 -0.06355246 -0.01786467  0.89287935]
 [ 0.0626749   0.99697302 -0.04600711  0.09728436]
 [ 0.02073446  0.04478708  0.99878136  0.01742698]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.0848606239999998 meters
Centerline goodness : 0.302624 with order 1
Centerline is valid?  [False, False]
Translation: X:0.94, Y:0.11, Z:0.02
[[ 0.99766682 -0.06576609 -0.01832335  0.93714799]
 [ 0.06486903  0.9968389  -0.04587172  0.10666951]
 [ 0.02128223  0.04457607  0.99877928  0.01877032]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.1448606239999999 meters
Centerline goodness : 0.318702 with order 1
Centerline is valid?  [False, False]
Translation: X:0.98, Y:0.12, Z:0.02
[[ 0.99772058 -0.06487448 -0.0185729   0.97835585]
 [ 0.06394921  0.99685995 -0.04669831  0.117585  ]
 [ 0.02154411  0.04540414  0.99873636  0.02142849]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.2048606239999997 meters
Centerline goodness : 0.286956 with order 1
Centerline is valid?  [False, False]
Translation: X:1.04, Y:0.13, Z:0.02
[[ 0.99774015 -0.06432117 -0.01942621  1.03506706]
 [ 0.06330413  0.99678677 -0.04907872  0.13306574]
 [ 0.02252059  0.04773805  0.99860598  0.02386568]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.2648606239999998 meters
Centerline goodness : 0.267634 with order 1
Centerline is valid?  [False, False]
Translation: X:1.07, Y:0.14, Z:0.03
[[ 0.99719448 -0.07241883 -0.01893866  1.07289604]
 [ 0.07143196  0.99626929 -0.04842488  0.13800643]
 [ 0.02237488  0.04693619  0.99864726  0.02600411]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.3248606239999998 meters
Centerline goodness : 0.296788 with order 1
Centerline is valid?  [False, False]
Translation: X:1.11, Y:0.14, Z:0.03
[[ 0.9966853  -0.07869515 -0.02062735  1.10737689]
 [ 0.07758998  0.99574094 -0.04979736  0.14232952]
 [ 0.02445831  0.04803182  0.99854631  0.02710364]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.3848606239999999 meters
Centerline goodness : 0.233754 with order 1
Centerline is valid?  [False, False]
Translation: X:1.15, Y:0.15, Z:0.03
[[ 0.9958782  -0.08602407 -0.02874829  1.14578745]
 [ 0.08442674  0.99503002 -0.05279561  0.14735721]
 [ 0.03314711  0.05015087  0.99819144  0.03071208]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.4448606239999997 meters
Centerline goodness : 0.232410 with order 1
Centerline is valid?  [False, False]
Translation: X:1.16, Y:0.15, Z:0.03
[[ 0.99560398 -0.08931312 -0.02821147  1.16269167]
 [ 0.08754908  0.99443741 -0.05856106  0.15164487]
 [ 0.03328481  0.05583373  0.99788512  0.03453268]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.5048606239999998 meters
Centerline goodness : 0.248597 with order 1
Centerline is valid?  [False, False]
Translation: X:1.20, Y:0.15, Z:0.04
[[ 0.99540756 -0.09129156 -0.02880348  1.20174132]
 [ 0.08934581  0.99401671 -0.06283401  0.15492186]
 [ 0.03436736  0.05997198  0.99760826  0.03538034]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.5648606239999998 meters
Centerline goodness : 0.236680 with order 1
Centerline is valid?  [False, False]
Translation: X:1.26, Y:0.16, Z:0.04
[[ 0.99518517 -0.09328151 -0.03008376  1.26110881]
 [ 0.0912264   0.99379287 -0.06366685  0.16140259]
 [ 0.03583597  0.06061588  0.99751767  0.03828391]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.6248606239999996 meters
Centerline goodness : 0.234414 with order 1
Centerline is valid?  [False, False]
Translation: X:1.30, Y:0.17, Z:0.04
[[ 0.99526806 -0.09275308 -0.02895423  1.29894911]
 [ 0.09080023  0.99389216 -0.06271921  0.16614808]
 [ 0.03459478  0.05979338  0.99761112  0.04090307]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.6848606239999997 meters
Centerline goodness : 0.179550 with order 1
Centerline is valid?  [False, False]
Translation: X:1.36, Y:0.17, Z:0.04
[[ 0.99550563 -0.09007749 -0.02923323  1.35523089]
 [ 0.08805071  0.99402777 -0.06446592  0.17310944]
 [ 0.03486557  0.06160218  0.99749164  0.04346978]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.7448606239999997 meters
Centerline goodness : 0.177629 with order 1
Centerline is valid?  [False, False]
Translation: X:1.39, Y:0.18, Z:0.05
[[ 0.99573575 -0.0875513  -0.02907043  1.39245422]
 [ 0.08547837  0.99413876 -0.0661935   0.17896345]
 [ 0.03469537  0.06342634  0.99738324  0.04536422]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.8048606239999998 meters
Centerline goodness : 0.171633 with order 1
Centerline is valid?  [False, False]
Translation: X:1.43, Y:0.19, Z:0.05
[[ 0.99596125 -0.08491746 -0.02915853  1.43118673]
 [ 0.08276175  0.99421014 -0.06853235  0.18500649]
 [ 0.0348093   0.06584236  0.99722269  0.04757933]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.8648606239999996 meters
Centerline goodness : 0.161526 with order 1
Centerline is valid?  [False, False]
Translation: X:1.49, Y:0.19, Z:0.05
[[ 0.99627936 -0.08080532 -0.02996565  1.48877976]
 [ 0.07850515  0.99436069 -0.07130047  0.19484251]
 [ 0.03555812  0.06868273  0.99700467  0.05015782]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.9248606239999997 meters
Centerline goodness : 0.148359 with order 1
Centerline is valid?  [False, False]
Translation: X:1.54, Y:0.21, Z:0.05
[[ 0.99651191 -0.07808755 -0.0294339   1.54372496]
 [ 0.07583688  0.99458337 -0.0710822   0.20559077]
 [ 0.03482511  0.06860208  0.99703609  0.05335055]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 1.9848606239999997 meters
Centerline goodness : 0.142570 with order 1
Centerline is valid?  [False, False]
Translation: X:1.58, Y:0.21, Z:0.06
[[ 0.99666394 -0.07658783 -0.02820102  1.58097275]
 [ 0.07437913  0.99459544 -0.07244071  0.21259036]
 [ 0.03359669  0.07010147  0.99697394  0.05632674]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.0448606239999996 meters
Centerline goodness : 0.139223 with order 1
Centerline is valid?  [False, False]
Translation: X:1.62, Y:0.22, Z:0.06
[[ 0.99671252 -0.0766918  -0.02612499  1.62127618]
 [ 0.07458274  0.99447349 -0.07389112  0.21846416]
 [ 0.03164746  0.07169973  0.99692406  0.05916306]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.1048606239999996 meters
Centerline goodness : 0.128656 with order 1
Centerline is valid?  [False, False]
Translation: X:1.68, Y:0.23, Z:0.06
[[ 0.99624404 -0.08316247 -0.0241209   1.68101364]
 [ 0.0811118   0.99378616 -0.07622301  0.22678612]
 [ 0.03030991  0.07398023  0.99679899  0.06311984]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.1648606239999997 meters
Centerline goodness : 0.953459 with order 1
Centerline is valid?  [False, True]
Translation: X:1.72, Y:0.23, Z:0.07
[[ 0.99567811 -0.08990413 -0.02328837  1.72206041]
 [ 0.08777103  0.99288841 -0.08042922  0.23101588]
 [ 0.03035367  0.07803757  0.99648823  0.06601169]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.2248606239999997 meters
Centerline goodness : 0.958406 with order 1
Centerline is valid?  [True, True]
Translation: X:1.81, Y:0.21, Z:-0.03
[[ 0.98143615 -0.02166896 -0.19056113  1.80515997]
 [ 0.02276224  0.9997346   0.00354993  0.20641888]
 [ 0.19043363 -0.00782163  0.98166891 -0.02536518]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.284860624 meters
Centerline goodness : 0.960400 with order 1
Centerline is valid?  [True, True]
Translation: X:1.86, Y:0.21, Z:-0.01
[[ 0.98127514 -0.02802837 -0.19056107  1.86304107]
 [ 0.02924086  0.99956608  0.00355332  0.20540144]
 [ 0.19037878 -0.00905896  0.98166891 -0.01077601]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.344860624 meters
Centerline goodness : 0.962536 with order 1
Centerline is valid?  [True, True]
Translation: X:1.92, Y:0.20, Z:0.00
[[ 9.81036203e-01 -3.54178908e-02 -1.90561122e-01  1.92250781e+00]
 [ 3.67675111e-02  9.99317540e-01  3.55025190e-03  1.99672926e-01]
 [ 1.90305329e-01 -1.04893838e-02  9.81668913e-01  2.48957598e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 2.4048606239999994 meters
Centerline goodness : 0.964171 with order 1
Centerline is valid?  [True, True]
Translation: X:1.98, Y:0.20, Z:0.01
[[ 0.98096621 -0.03730625 -0.19056113  1.9812399 ]
 [ 0.03869102  0.99924492  0.00355004  0.19599821]
 [ 0.1902848  -0.01085548  0.98166891  0.0121375 ]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.4648606239999995 meters
Centerline goodness : 0.966649 with order 1
Centerline is valid?  [True, True]
Translation: X:2.04, Y:0.19, Z:0.02
[[ 0.98090118 -0.0389784  -0.19056119  2.03842517]
 [ 0.04039368  0.99917755  0.00354669  0.19200498]
 [ 0.19026622 -0.01117642  0.98166891  0.02298741]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.5248606239999996 meters
Centerline goodness : 0.968007 with order 1
Centerline is valid?  [True, True]
Translation: X:2.10, Y:0.18, Z:0.01
[[ 0.9808844  -0.03939679 -0.19056148  2.1013922 ]
 [ 0.04081683  0.99916041  0.00353103  0.18439315]
 [ 0.19026237 -0.01124165  0.98166891  0.00816508]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.5848606239999996 meters
Centerline goodness : 0.973561 with order 1
Centerline is valid?  [True, True]
Translation: X:2.16, Y:0.18, Z:0.02
[[ 0.98100059 -0.03638674 -0.19056191  2.15911499]
 [ 0.03774611  0.99928121  0.00350737  0.17694091]
 [ 0.19029732 -0.0106337   0.98166891  0.02239307]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.6448606239999997 meters
Centerline goodness : 0.975095 with order 1
Centerline is valid?  [True, True]
Translation: X:2.22, Y:0.17, Z:0.03
[[ 0.98119285 -0.0307684  -0.19056204  2.21802445]
 [ 0.03202179  0.99948104  0.00350077  0.16817362]
 [ 0.19035543 -0.00953706  0.98166891  0.03040176]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.7048606239999997 meters
Centerline goodness : 0.978405 with order 1
Centerline is valid?  [True, True]
Translation: X:2.28, Y:0.16, Z:0.05
[[ 0.98136764 -0.02456919 -0.19056211  2.27582881]
 [ 0.02570625  0.99966342  0.00349686  0.16073484]
 [ 0.19041205 -0.00833034  0.98166891  0.04801381]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.7648606239999998 meters
Centerline goodness : 0.980244 with order 1
Centerline is valid?  [True, True]
Translation: X:2.33, Y:0.15, Z:0.06
[[ 0.98150508 -0.01827147 -0.19056212  2.33305993]
 [ 0.01929096  0.9998078   0.00349603  0.15370356]
 [ 0.19046162 -0.0071075   0.98166891  0.06023531]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.8248606239999994 meters
Centerline goodness : 0.981930 with order 1
Centerline is valid?  [True, True]
Translation: X:2.39, Y:0.14, Z:0.07
[[ 0.98164103 -0.00818241 -0.19056217  2.3912667 ]
 [ 0.00901324  0.99995328  0.00349354  0.14497794]
 [ 0.19052468 -0.00514698  0.98166891  0.07377057]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 2.8848606239999994 meters
Centerline goodness : 0.983691 with order 1
Centerline is valid?  [True, True]
Translation: X:2.45, Y:0.14, Z:0.09
[[ 9.81675053e-01 -3.30755879e-04 -1.90562275e-01  2.44900130e+00]
 [ 1.01396365e-03  9.99993404e-01  3.48772662e-03  1.36738578e-01]
 [ 1.90559864e-01 -3.61703744e-03  9.81668913e-01  8.64312041e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 2.9448606239999995 meters
Centerline goodness : 0.985470 with order 1
Centerline is valid?  [True, True]
Translation: X:2.51, Y:0.13, Z:0.10
[[ 9.81671316e-01  2.70185963e-03 -1.90562659e-01  2.50744555e+00]
 [-2.07935028e-03  9.99991830e-01  3.46657121e-03  1.29931411e-01]
 [ 1.90570469e-01 -3.00678701e-03  9.81668913e-01  9.67481709e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.0048606239999995 meters
Centerline goodness : 0.986775 with order 1
Centerline is valid?  [True, True]
Translation: X:2.57, Y:0.13, Z:0.11
[[ 0.9816693   0.00335013 -0.19056274  2.56669016]
 [-0.00274057  0.99999025  0.00346217  0.12592578]
 [ 0.19057248 -0.00287646  0.98166891  0.10921987]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.0648606239999996 meters
Centerline goodness : 0.989242 with order 1
Centerline is valid?  [True, True]
Translation: X:2.63, Y:0.12, Z:0.12
[[ 9.81672559e-01  2.19736067e-03 -1.90562739e-01  2.62512801e+00]
 [-1.56628934e-03  9.99992780e-01  3.46217494e-03  1.17100441e-01]
 [ 1.90568971e-01 -3.10024574e-03  9.81668914e-01  1.18068796e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.1248606239999996 meters
Centerline goodness : 0.990204 with order 1
Centerline is valid?  [True, True]
Translation: X:2.68, Y:0.11, Z:0.13
[[ 9.81674997e-01  9.46235142e-07 -1.90562850e-01  2.68298323e+00]
 [ 6.69927006e-04  9.99993803e-01  3.45606093e-03  1.12020735e-01]
 [ 1.90561673e-01 -3.52039180e-03  9.81668914e-01  1.28860952e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.1848606239999997 meters
Centerline goodness : 0.990618 with order 1
Centerline is valid?  [True, True]
Translation: X:2.74, Y:0.11, Z:0.14
[[ 9.81672803e-01 -2.05410899e-03 -1.90563085e-01  2.74004062e+00]
 [ 2.76080701e-03  9.99990262e-01  3.44306021e-03  1.07217319e-01]
 [ 1.90554157e-01 -3.90606647e-03  9.81668914e-01  1.41075541e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.2448606239999993 meters
Centerline goodness : 0.991993 with order 1
Centerline is valid?  [True, True]
Translation: X:2.80, Y:0.10, Z:0.15
[[ 0.98165651 -0.00599406 -0.19056383  2.79673424]
 [ 0.00676616  0.99997132  0.00340125  0.10067603]
 [ 0.19053798 -0.00462824  0.98166891  0.15316914]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.3048606239999994 meters
Centerline goodness : 0.993809 with order 1
Centerline is valid?  [True, True]
Translation: X:2.86, Y:0.10, Z:0.17
[[ 0.98164199 -0.00802098 -0.19056409  2.85519154]
 [ 0.00882806  0.9999553   0.00338662  0.09557071]
 [ 0.19052841 -0.00500676  0.98166891  0.16742439]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.3648606239999994 meters
Centerline goodness : 0.995162 with order 1
Centerline is valid?  [True, True]
Translation: X:2.91, Y:0.09, Z:0.18
[[ 0.98162127 -0.01024656 -0.19056414  2.91373638]
 [ 0.0110946   0.99993273  0.00338375  0.08807354]
 [ 0.19051665 -0.00543579  0.98166891  0.17591361]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.4248606239999995 meters
Centerline goodness : 0.995531 with order 1
Centerline is valid?  [True, True]
Translation: X:2.97, Y:0.08, Z:0.18
[[ 0.98162372 -0.01000462 -0.19056436  2.97143082]
 [ 0.01084579  0.9999355   0.00337162  0.08178528]
 [ 0.19051833 -0.00537649  0.98166891  0.18492128]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.4848606239999995 meters
Centerline goodness : 0.996444 with order 1
Centerline is valid?  [True, True]
Translation: X:3.03, Y:0.08, Z:0.20
[[ 0.98164414 -0.00774255 -0.19056451  3.02882328]
 [ 0.00853988  0.99995788  0.0033632   0.08034904]
 [ 0.19053044 -0.00492886  0.98166891  0.19649068]
 [ 0.          0.          0.          1.        ]]

 SLAMing on 3.5448606239999996 meters
Centerline goodness : 0.996741 with order 1
Centerline is valid?  [True, True]
Translation: X:3.09, Y:0.08, Z:0.21
[[ 9.81674628e-01  1.43836444e-04 -1.90564700e-01  3.08529593e+00]
 [ 5.04207752e-04  9.99994254e-01  3.35216110e-03  7.73522375e-02]
 [ 1.90564087e-01 -3.38681570e-03  9.81668915e-01  2.09042281e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.6048606239999996 meters
Centerline goodness : 0.997656 with order 1
Centerline is valid?  [True, True]
Translation: X:3.14, Y:0.08, Z:0.22
[[ 9.81655142e-01  6.17956122e-03 -1.90564939e-01  3.14201306e+00]
 [-5.64680955e-03  9.99978484e-01  3.33853981e-03  7.57325823e-02]
 [ 1.90581469e-01 -2.20121085e-03  9.81668915e-01  2.21294417e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.6648606239999992 meters
Centerline goodness : 0.997835 with order 1
Centerline is valid?  [True, True]
Translation: X:3.20, Y:0.08, Z:0.23
[[ 9.81537741e-01  1.63883508e-02 -1.90565171e-01  3.19836435e+00]
 [-1.60487797e-02  9.99865681e-01  3.32519581e-03  7.56461647e-02]
 [ 1.90594069e-01 -2.05466718e-04  9.81668915e-01  2.34857125e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.7248606239999993 meters
Centerline goodness : 0.997302 with order 1
Centerline is valid?  [True, True]
Translation: X:3.26, Y:0.07, Z:0.25
[[ 9.81380566e-01  2.40203404e-02 -1.90565494e-01  3.25521719e+00]
 [-2.38269048e-02  9.99710631e-01  3.30662341e-03  7.38562395e-02]
 [ 1.90589776e-01  1.29552993e-03  9.81668915e-01  2.46490094e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.7848606239999993 meters
Centerline goodness : 0.997707 with order 1
Centerline is valid?  [True, True]
Translation: X:3.31, Y:0.07, Z:0.26
[[ 9.81067181e-01  3.45232061e-02 -1.90565829e-01  3.31144199e+00]
 [-3.45297568e-02  9.99398264e-01  3.28716387e-03  7.13774715e-02]
 [ 1.90564643e-01  3.35526315e-03  9.81668915e-01  2.58343453e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.8448606239999994 meters
Centerline goodness : 0.998018 with order 1
Centerline is valid?  [True, True]
Translation: X:3.37, Y:0.07, Z:0.27
[[ 9.80880616e-01  3.94689526e-02 -1.90566049e-01  3.36993397e+00]
 [-3.95703987e-02  9.99211420e-01  3.27440832e-03  7.04216203e-02]
 [ 1.90545010e-01  4.32897088e-03  9.81668915e-01  2.71224460e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.9048606239999994 meters
Centerline goodness : 0.997963 with order 1
Centerline is valid?  [True, True]
Translation: X:3.43, Y:0.07, Z:0.28
[[ 9.80664565e-01  4.45146988e-02 -1.90566136e-01  3.42736990e+00]
 [-4.47114322e-02  9.98994594e-01  3.26934371e-03  6.73720818e-02]
 [ 1.90520073e-01  5.31435533e-03  9.81668915e-01  2.84135298e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 3.9648606239999995 meters
Centerline goodness : 0.998076 with order 1
Centerline is valid?  [True, True]
Translation: X:3.49, Y:0.06, Z:0.30
[[ 9.80669644e-01  4.43999349e-02 -1.90566772e-01  3.48661133e+00]
 [-4.46018103e-02  9.98999617e-01  3.23181451e-03  6.21606061e-02]
 [ 1.90519625e-01  5.33028063e-03  9.81668916e-01  2.95003826e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.0248606239999996 meters
Centerline goodness : 0.998836 with order 1
Centerline is valid?  [True, True]
Translation: X:3.54, Y:0.06, Z:0.31
[[ 9.81064933e-01  3.45816124e-02 -1.90566809e-01  3.54482145e+00]
 [-3.46004294e-02  9.99396008e-01  3.22961454e-03  5.50426281e-02]
 [ 1.90563394e-01  3.42523187e-03  9.81668916e-01  3.05760892e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.084860623999999 meters
Centerline goodness : 0.998997 with order 1
Centerline is valid?  [True, True]
Translation: X:3.60, Y:0.05, Z:0.32
[[ 9.81313682e-01  2.66030295e-02 -1.90566880e-01  3.60280875e+00]
 [-2.64735964e-02  9.99644309e-01  3.22545379e-03  4.89246140e-02]
 [ 1.90584904e-01  1.87980873e-03  9.81668916e-01  3.16469901e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.144860624 meters
Centerline goodness : 0.999169 with order 1
Centerline is valid?  [True, True]
Translation: X:3.66, Y:0.04, Z:0.33
[[ 9.81577277e-01  1.37875975e-02 -1.90567444e-01  3.65960150e+00]
 [-1.34253681e-02  9.99904781e-01  3.19177499e-03  3.94834199e-02]
 [ 1.90593305e-01 -5.74535724e-04  9.81668917e-01  3.27796307e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.204860623999999 meters
Centerline goodness : 0.999483 with order 1
Centerline is valid?  [True, True]
Translation: X:3.72, Y:0.03, Z:0.34
[[ 9.81657099e-01  5.77136779e-03 -1.90567657e-01  3.71835117e+00]
 [-5.26196755e-03  9.99981103e-01  3.17898080e-03  3.29605660e-02]
 [ 1.90582403e-01 -2.11790824e-03  9.81668917e-01  3.39196292e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.264860624 meters
Centerline goodness : 0.999181 with order 1
Centerline is valid?  [True, True]
Translation: X:3.78, Y:0.03, Z:0.35
[[ 9.81671252e-01 -2.34295841e-03 -1.90567742e-01  3.77607490e+00]
 [ 3.00281940e-03  9.99990455e-01  3.17391302e-03  2.68711661e-02]
 [ 1.90558486e-01 -3.68797968e-03  9.81668917e-01  3.50168917e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.324860623999999 meters
Centerline goodness : 0.998905 with order 1
Centerline is valid?  [True, True]
Translation: X:3.83, Y:0.02, Z:0.36
[[ 9.81661164e-01 -5.02470803e-03 -1.90567867e-01  3.83356591e+00]
 [ 5.73315288e-03  9.99978552e-01  3.16639566e-03  2.41622799e-02]
 [ 1.90547869e-01 -4.20088236e-03  9.81668917e-01  3.60726939e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.384860623999999 meters
Centerline goodness : 0.999264 with order 1
Centerline is valid?  [True, True]
Translation: X:3.89, Y:0.02, Z:0.37
[[ 9.81647665e-01 -7.17894856e-03 -1.90568427e-01  3.89100500e+00]
 [ 7.92097711e-03  9.99963723e-01  3.13231609e-03  1.92210347e-02]
 [ 1.90539027e-01 -4.58431892e-03  9.81668917e-01  3.69467302e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.4448606239999995 meters
Centerline goodness : 0.998938 with order 1
Centerline is valid?  [True, True]
Translation: X:3.95, Y:0.02, Z:0.38
[[ 9.81636364e-01 -8.58184617e-03 -1.90568627e-01  3.94861231e+00]
 [ 9.34767563e-03  9.99951442e-01  3.12007736e-03  1.75729436e-02]
 [ 1.90532598e-01 -4.84415511e-03  9.81668917e-01  3.81327085e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.504860623999999 meters
Centerline goodness : 0.999218 with order 1
Centerline is valid?  [True, True]
Translation: X:4.01, Y:0.02, Z:0.39
[[ 9.81580884e-01 -1.35035932e-02 -1.90569200e-01  4.00817100e+00]
 [ 1.43543780e-02  9.99892212e-01  3.08468235e-03  1.56461812e-02]
 [ 1.90507005e-01 -5.76336758e-03  9.81668918e-01  3.90517899e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.564860624 meters
Centerline goodness : 0.999020 with order 1
Centerline is valid?  [True, True]
Translation: X:4.07, Y:0.02, Z:0.40
[[ 9.81420803e-01 -2.22838643e-02 -1.90569243e-01  4.06741911e+00]
 [ 2.32979112e-02  9.99723816e-01  3.08205475e-03  1.60966000e-02]
 [ 1.90447931e-01 -7.46465795e-03  9.81668918e-01  3.95788544e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.624860623999999 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:4.13, Y:0.02, Z:0.41
[[ 9.81290934e-01 -2.74123296e-02 -1.90569325e-01  4.12548803e+00]
 [ 2.85210253e-02  9.99588457e-01  3.07696576e-03  1.78031397e-02]
 [ 1.90406551e-01 -8.45463114e-03  9.81668918e-01  4.13595799e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.684860624 meters
Centerline goodness : 0.999188 with order 1
Centerline is valid?  [True, True]
Translation: X:4.18, Y:0.02, Z:0.43
[[ 9.81182985e-01 -3.10366343e-02 -1.90569350e-01  4.18421244e+00]
 [ 3.22126105e-02  9.99476308e-01  3.07544047e-03  1.99606629e-02]
 [ 1.90374099e-01 -9.15630609e-03  9.81668918e-01  4.27714066e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.744860623999999 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:4.24, Y:0.02, Z:0.43
[[ 9.81064307e-01 -3.45851047e-02 -1.90569399e-01  4.24267949e+00]
 [ 3.58266374e-02  9.99353297e-01  3.07235456e-03  2.44153634e-02]
 [ 1.90339900e-01 -9.84163816e-03  9.81668918e-01  4.31813490e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.804860623999999 meters
Centerline goodness : 0.999233 with order 1
Centerline is valid?  [True, True]
Translation: X:4.30, Y:0.03, Z:0.45
[[ 9.80989156e-01 -3.66536194e-02 -1.90569643e-01  4.29879717e+00]
 [ 3.79307742e-02  9.99275693e-01  3.05718814e-03  2.86263959e-02]
 [ 1.90319555e-01 -1.02275225e-02  9.81668918e-01  4.50017309e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.864860623999999 meters
Centerline goodness : 0.999329 with order 1
Centerline is valid?  [True, True]
Translation: X:4.36, Y:0.03, Z:0.46
[[ 9.80949469e-01 -3.76974120e-02 -1.90570315e-01  4.35808844e+00]
 [ 3.89858001e-02  9.99235217e-01  3.01473113e-03  3.29981963e-02]
 [ 1.90310922e-01 -1.03868351e-02  9.81668919e-01  4.61241172e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.924860623999999 meters
Centerline goodness : 0.999430 with order 1
Centerline is valid?  [True, True]
Translation: X:4.42, Y:0.04, Z:0.47
[[ 9.80935337e-01 -3.80631270e-02 -1.90570362e-01  4.41691606e+00]
 [ 3.93577499e-02  9.99220645e-01  3.01172415e-03  3.61188102e-02]
 [ 1.90307205e-01 -1.04547273e-02  9.81668919e-01  4.71659599e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 4.9848606239999995 meters
Centerline goodness : 0.999607 with order 1
Centerline is valid?  [True, True]
Translation: X:4.47, Y:0.04, Z:0.48
[[ 9.80908484e-01 -3.87484915e-02 -1.90570458e-01  4.47490618e+00]
 [ 4.00547071e-02  9.99192968e-01  3.00561724e-03  4.41439281e-02]
 [ 1.90300199e-01 -1.05814794e-02  9.81668919e-01  4.82900856e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.044860623999999 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:4.53, Y:0.05, Z:0.49
[[ 9.80873894e-01 -3.96135245e-02 -1.90570652e-01  4.53164642e+00]
 [ 4.09334846e-02  9.99157390e-01  2.99332912e-03  4.97274386e-02]
 [ 1.90291498e-01 -1.07367992e-02  9.81668919e-01  4.93518815e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.104860624 meters
Centerline goodness : 0.999523 with order 1
Centerline is valid?  [True, True]
Translation: X:4.59, Y:0.06, Z:0.50
[[ 9.80817919e-01 -4.09725298e-02 -1.90571407e-01  4.58894965e+00]
 [ 4.23083576e-02  9.99100262e-01  2.94446063e-03  5.76023800e-02]
 [ 1.90279300e-01 -1.09507430e-02  9.81668920e-01  5.04320243e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.164860623999999 meters
Centerline goodness : 0.999628 with order 1
Centerline is valid?  [True, True]
Translation: X:4.65, Y:0.06, Z:0.52
[[ 9.80749779e-01 -4.25713602e-02 -1.90571640e-01  4.64817541e+00]
 [ 4.39340489e-02  9.99030139e-01  2.92927592e-03  6.29260764e-02]
 [ 1.90262109e-01 -1.12454705e-02  9.81668920e-01  5.16108821e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.224860623999999 meters
Centerline goodness : 0.999465 with order 1
Centerline is valid?  [True, True]
Translation: X:4.71, Y:0.07, Z:0.53
[[ 9.80606375e-01 -4.57556738e-02 -1.90571656e-01  4.70741210e+00]
 [ 4.71775176e-02  9.98882229e-01  2.92826901e-03  7.12114487e-02]
 [ 1.90224655e-01 -1.18621769e-02  9.81668920e-01  5.25695084e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.284860623999999 meters
Centerline goodness : 0.999435 with order 1
Centerline is valid?  [True, True]
Translation: X:4.77, Y:0.08, Z:0.54
[[ 9.80436968e-01 -4.92522008e-02 -1.90571701e-01  4.76692748e+00]
 [ 5.07386297e-02  9.98707682e-01  2.92528743e-03  7.89913144e-02]
 [ 1.90181345e-01 -1.25374069e-02  9.81668920e-01  5.35648520e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.344860623999999 meters
Centerline goodness : 0.999596 with order 1
Centerline is valid?  [True, True]
Translation: X:4.82, Y:0.08, Z:0.55
[[ 9.80365470e-01 -5.06552422e-02 -1.90571748e-01  4.82464849e+00]
 [ 5.21672321e-02  9.98634087e-01  2.92226639e-03  8.27772840e-02]
 [ 1.90163415e-01 -1.28064897e-02  9.81668920e-01  5.45695885e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.4048606239999994 meters
Centerline goodness : 0.999540 with order 1
Centerline is valid?  [True, True]
Translation: X:4.88, Y:0.09, Z:0.56
[[ 9.80326507e-01 -5.14014020e-02 -1.90572390e-01  4.88157580e+00]
 [ 5.29190787e-02  9.98594651e-01  2.87980052e-03  8.73156877e-02]
 [ 1.90156543e-01 -1.29080601e-02  9.81668921e-01  5.55795404e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.464860623999999 meters
Centerline goodness : 0.999646 with order 1
Centerline is valid?  [True, True]
Translation: X:4.94, Y:0.09, Z:0.57
[[ 9.80292311e-01 -5.20486671e-02 -1.90572615e-01  4.93850635e+00]
 [ 5.35755042e-02  9.98559692e-01  2.86480732e-03  9.48796986e-02]
 [ 1.90149022e-01 -1.30183725e-02  9.81668921e-01  5.70878508e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.5248606239999996 meters
Centerline goodness : 0.999590 with order 1
Centerline is valid?  [True, True]
Translation: X:5.00, Y:0.10, Z:0.58
[[ 9.80320775e-01 -5.15072731e-02 -1.90573292e-01  4.99611225e+00]
 [ 5.30151717e-02  9.98589728e-01  2.81907474e-03  9.81257780e-02]
 [ 1.90159329e-01 -1.28668733e-02  9.81668922e-01  5.79406220e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.584860623999999 meters
Centerline goodness : 0.999478 with order 1
Centerline is valid?  [True, True]
Translation: X:5.05, Y:0.10, Z:0.59
[[ 9.80463171e-01 -4.87206348e-02 -1.90573528e-01  5.05371982e+00]
 [ 5.01734874e-02  9.98736584e-01  2.80299241e-03  1.04451848e-01]
 [ 1.90196191e-01 -1.23099693e-02  9.81668923e-01  5.87573194e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.644860623999999 meters
Centerline goodness : 0.999335 with order 1
Centerline is valid?  [True, True]
Translation: X:5.11, Y:0.11, Z:0.60
[[ 9.80640129e-01 -4.50175812e-02 -1.90573751e-01  5.11196500e+00]
 [ 4.63984612e-02  9.98919121e-01  2.78774160e-03  1.09533228e-01]
 [ 1.90242267e-01 -1.15761001e-02  9.81668923e-01  6.00000414e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.704860623999999 meters
Centerline goodness : 0.999498 with order 1
Centerline is valid?  [True, True]
Translation: X:5.17, Y:0.12, Z:0.62
[[ 9.81009618e-01 -3.60798468e-02 -1.90573802e-01  5.17048496e+00]
 [ 3.72934394e-02  9.99300479e-01  2.78429954e-03  1.15132730e-01]
 [ 1.90340034e-01 -9.83857716e-03  9.81668923e-01  6.16005927e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.764860623999999 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:5.23, Y:0.12, Z:0.63
[[ 9.81207805e-01 -3.02136228e-02 -1.90573820e-01  5.22938932e+00]
 [ 3.13175938e-02  9.99505609e-01  2.78307875e-03  1.18587210e-01]
 [ 1.90395515e-01 -8.69909206e-03  9.81668923e-01  6.28302101e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.824860623999999 meters
Centerline goodness : 0.999632 with order 1
Centerline is valid?  [True, True]
Translation: X:5.29, Y:0.13, Z:0.64
[[ 9.81434458e-01 -2.16338105e-02 -1.90573825e-01  5.28720653e+00]
 [ 2.25776965e-02  9.99741219e-01  2.78273927e-03  1.26278020e-01]
 [ 1.90464306e-01 -7.03379419e-03  9.81668923e-01  6.40105823e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.884860623999999 meters
Centerline goodness : 0.999346 with order 1
Centerline is valid?  [True, True]
Translation: X:5.35, Y:0.13, Z:0.65
[[ 9.81518485e-01 -1.74082212e-02 -1.90573916e-01  5.34627897e+00]
 [ 1.82720587e-02  9.99829197e-01  2.77643229e-03  1.29048724e-01]
 [ 1.90493033e-01 -6.20729741e-03  9.81668923e-01  6.52498541e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 5.9448606239999995 meters
Centerline goodness : 0.999600 with order 1
Centerline is valid?  [True, True]
Translation: X:5.40, Y:0.13, Z:0.66
[[ 9.81537081e-01 -1.63255155e-02 -1.90573963e-01  5.40396105e+00]
 [ 1.71685348e-02  9.99848764e-01  2.77323843e-03  1.31861809e-01]
 [ 1.90499867e-01 -5.99391207e-03  9.81668923e-01  6.60449531e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.004860623999999 meters
Centerline goodness : 0.999542 with order 1
Centerline is valid?  [True, True]
Translation: X:5.46, Y:0.13, Z:0.67
[[ 9.81501804e-01 -1.83175227e-02 -1.90574595e-01  5.46144778e+00]
 [ 1.91891405e-02  9.99812147e-01  2.72908545e-03  1.31847717e-01]
 [ 1.90488805e-01 -6.33556498e-03  9.81668924e-01  6.70841844e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.064860623999999 meters
Centerline goodness : 0.999601 with order 1
Centerline is valid?  [True, True]
Translation: X:5.52, Y:0.13, Z:0.68
[[ 9.81452646e-01 -2.07796043e-02 -1.90575211e-01  5.52016045e+00]
 [ 2.16886853e-02  9.99761166e-01  2.68542895e-03  1.31413574e-01]
 [ 1.90473893e-01 -6.76894713e-03  9.81668925e-01  6.80494187e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.124860623999999 meters
Centerline goodness : 0.999715 with order 1
Centerline is valid?  [True, True]
Translation: X:5.58, Y:0.13, Z:0.69
[[ 9.81436422e-01 -2.15314613e-02 -1.90575301e-01  5.57778357e+00]
 [ 2.24533252e-02  9.99744303e-01  2.67902160e-03  1.32596573e-01]
 [ 1.90468888e-01 -6.90833858e-03  9.81668925e-01  6.94461960e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.184860623999999 meters
Centerline goodness : 0.999456 with order 1
Centerline is valid?  [True, True]
Translation: X:5.63, Y:0.13, Z:0.71
[[ 9.81450057e-01 -2.08976557e-02 -1.90575635e-01  5.63461882e+00]
 [ 2.18030412e-02  9.99758760e-01  2.65501774e-03  1.34529005e-01]
 [ 1.90474177e-01 -6.76089575e-03  9.81668925e-01  7.07034397e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.244860623999999 meters
Centerline goodness : 0.999657 with order 1
Centerline is valid?  [True, True]
Translation: X:5.69, Y:0.13, Z:0.72
[[ 9.81458697e-01 -2.04862197e-02 -1.90575814e-01  5.69189035e+00]
 [ 2.13814296e-02  9.99767900e-01  2.64212504e-03  1.34396082e-01]
 [ 1.90477454e-01 -6.66791995e-03  9.81668925e-01  7.21094912e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.304860623999999 meters
Centerline goodness : 0.999771 with order 1
Centerline is valid?  [True, True]
Translation: X:5.75, Y:0.14, Z:0.73
[[ 9.81461291e-01 -2.03558794e-02 -1.90576420e-01  5.74979537e+00]
 [ 2.12400321e-02  9.99771030e-01  2.59764958e-03  1.35030654e-01]
 [ 1.90479907e-01 -6.59734180e-03  9.81668926e-01  7.34543515e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.364860623999999 meters
Centerline goodness : 0.999685 with order 1
Centerline is valid?  [True, True]
Translation: X:5.81, Y:0.14, Z:0.75
[[ 9.81453648e-01 -2.07199362e-02 -1.90576549e-01  5.80636029e+00]
 [ 2.16090381e-02  9.99763147e-01  2.58814923e-03  1.35338396e-01]
 [ 1.90477785e-01 -6.65832442e-03  9.81668926e-01  7.47086762e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.424860623999999 meters
Centerline goodness : 0.999714 with order 1
Centerline is valid?  [True, True]
Translation: X:5.86, Y:0.13, Z:0.76
[[ 9.81432426e-01 -2.16993420e-02 -1.90576839e-01  5.86388735e+00]
 [ 2.26025522e-02  9.99741235e-01  2.56668494e-03  1.33916135e-01]
 [ 1.90471829e-01 -6.82655078e-03  9.81668926e-01  7.56833490e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.484860623999999 meters
Centerline goodness : 0.999600 with order 1
Centerline is valid?  [True, True]
Translation: X:5.92, Y:0.13, Z:0.77
[[ 9.81373314e-01 -2.42211618e-02 -1.90577420e-01  5.92185689e+00]
 [ 2.51628993e-02  9.99680181e-01  2.52276740e-03  1.33371785e-01]
 [ 1.90455365e-01 -7.27125704e-03  9.81668927e-01  7.65495622e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.544860623999999 meters
Centerline goodness : 0.999658 with order 1
Centerline is valid?  [True, True]
Translation: X:5.98, Y:0.13, Z:0.77
[[ 9.81307707e-01 -2.67466928e-02 -1.90577542e-01  5.98075752e+00]
 [ 2.77337480e-02  9.99612186e-01  2.51352053e-03  1.30399076e-01]
 [ 1.90436405e-01 -7.75196660e-03  9.81668927e-01  7.73138974e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.604860623999999 meters
Centerline goodness : 0.999658 with order 1
Centerline is valid?  [True, True]
Translation: X:6.04, Y:0.13, Z:0.79
[[ 9.81248015e-01 -2.88533998e-02 -1.90577579e-01  6.03773699e+00]
 [ 2.98792089e-02  9.99550363e-01  2.51072678e-03  1.28945459e-01]
 [ 1.90419445e-01 -8.15795296e-03  9.81668927e-01  7.85210963e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.664860623999999 meters
Centerline goodness : 0.999545 with order 1
Centerline is valid?  [True, True]
Translation: X:6.09, Y:0.13, Z:0.80
[[ 9.81227175e-01 -2.95517006e-02 -1.90577882e-01  6.09446274e+00]
 [ 3.05860397e-02  9.99529042e-01  2.48754100e-03  1.27384224e-01]
 [ 1.90414616e-01 -8.26986549e-03  9.81668927e-01  7.96182973e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.724860623999999 meters
Centerline goodness : 0.999545 with order 1
Centerline is valid?  [True, True]
Translation: X:6.15, Y:0.13, Z:0.81
[[ 9.81252084e-01 -2.87113665e-02 -1.90578080e-01  6.15045938e+00]
 [ 2.97270651e-02  9.99554996e-01  2.47224042e-03  1.26462951e-01]
 [ 1.90422291e-01 -8.09121806e-03  9.81668928e-01  8.13289010e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.784860623999999 meters
Centerline goodness : 0.999461 with order 1
Centerline is valid?  [True, True]
Translation: X:6.21, Y:0.13, Z:0.82
[[ 9.81252863e-01 -2.86808418e-02 -1.90578664e-01  6.20780241e+00]
 [ 2.96870798e-02  9.99556297e-01  2.42637886e-03  1.25364953e-01]
 [ 1.90424513e-01 -8.03861522e-03  9.81668929e-01  8.24193267e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.844860623999999 meters
Centerline goodness : 0.999375 with order 1
Centerline is valid?  [True, True]
Translation: X:6.26, Y:0.12, Z:0.84
[[ 9.81280361e-01 -2.77229965e-02 -1.90578828e-01  6.26392723e+00]
 [ 2.87088656e-02  9.99584902e-01  2.41347484e-03  1.24814738e-01]
 [ 1.90432810e-01 -7.83959741e-03  9.81668929e-01  8.37608800e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.904860623999999 meters
Centerline goodness : 0.999489 with order 1
Centerline is valid?  [True, True]
Translation: X:6.32, Y:0.12, Z:0.85
[[ 9.81342544e-01 -2.54218898e-02 -1.90579484e-01  6.32207633e+00]
 [ 2.63545609e-02  9.99649871e-01  2.36050039e-03  1.24806617e-01]
 [ 1.90452748e-01 -7.33909808e-03  9.81668930e-01  8.46029257e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 6.964860623999999 meters
Centerline goodness : 0.999801 with order 1
Centerline is valid?  [True, True]
Translation: X:6.38, Y:0.12, Z:0.86
[[ 9.81355903e-01 -2.49000848e-02 -1.90579581e-01  6.38184705e+00]
 [ 2.58214907e-02  9.99663801e-01  2.35260755e-03  1.22392231e-01]
 [ 1.90456929e-01 -7.22979420e-03  9.81668930e-01  8.55936217e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.024860623999999 meters
Centerline goodness : 0.999545 with order 1
Centerline is valid?  [True, True]
Translation: X:6.44, Y:0.12, Z:0.86
[[ 9.81308256e-01 -2.67119724e-02 -1.90579581e-01  6.43948843e+00]
 [ 2.76671796e-02  9.99614422e-01  2.35260755e-03  1.21196045e-01]
 [ 1.90443255e-01 -7.58143273e-03  9.81668930e-01  8.64365420e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.084860623999999 meters
Centerline goodness : 0.999546 with order 1
Centerline is valid?  [True, True]
Translation: X:6.50, Y:0.12, Z:0.88
[[ 9.81249902e-01 -2.87746271e-02 -1.90579776e-01  6.49704714e+00]
 [ 2.97652430e-02  9.99554186e-01  2.33677898e-03  1.20777939e-01]
 [ 1.90427572e-01 -7.96561747e-03  9.81668930e-01  8.77082947e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.144860623999999 meters
Centerline goodness : 0.999548 with order 1
Centerline is valid?  [True, True]
Translation: X:6.56, Y:0.12, Z:0.89
[[ 9.81114749e-01 -3.30605833e-02 -1.90580290e-01  6.55531776e+00]
 [ 3.41228723e-02  9.99415012e-01  2.29409911e-03  1.18165424e-01]
 [ 1.90392958e-01 -8.75392137e-03  9.81668931e-01  8.92180369e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.204860623999999 meters
Centerline goodness : 0.999405 with order 1
Centerline is valid?  [True, True]
Translation: X:6.61, Y:0.11, Z:0.91
[[ 9.80975087e-01 -3.69732152e-02 -1.90580327e-01  6.61367302e+00]
 [ 3.81078777e-02  9.99271005e-01  2.29098558e-03  1.14664889e-01]
 [ 1.90356690e-01 -9.51001157e-03  9.81668931e-01  9.05450031e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.264860623999999 meters
Centerline goodness : 0.999437 with order 1
Centerline is valid?  [True, True]
Translation: X:6.67, Y:0.11, Z:0.92
[[ 9.80782250e-01 -4.17769146e-02 -1.90580345e-01  6.67279894e+00]
 [ 4.30008785e-02  9.99072411e-01  2.28950966e-03  1.11623317e-01]
 [ 1.90307916e-01 -1.04406327e-02  9.81668931e-01  9.19896454e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.3248606239999985 meters
Centerline goodness : 0.999495 with order 1
Centerline is valid?  [True, True]
Translation: X:6.73, Y:0.11, Z:0.93
[[ 9.80646039e-01 -4.48607618e-02 -1.90580322e-01  6.73143646e+00]
 [ 4.61425986e-02  9.98932235e-01  2.29139885e-03  1.09466756e-01]
 [ 1.90274033e-01 -1.10409225e-02  9.81668931e-01  9.30517739e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.384860623999999 meters
Centerline goodness : 0.999215 with order 1
Centerline is valid?  [True, True]
Translation: X:6.79, Y:0.11, Z:0.94
[[ 9.80478818e-01 -4.83778230e-02 -1.90580362e-01  6.78912804e+00]
 [ 4.97246009e-02  9.98760346e-01  2.28809882e-03  1.07300521e-01]
 [ 1.90233415e-01 -1.17199648e-02  9.81668931e-01  9.41455989e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.444860623999999 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:6.85, Y:0.11, Z:0.95
[[ 9.80369949e-01 -5.05359258e-02 -1.90580383e-01  6.84846646e+00]
 [ 5.19225923e-02  9.98648495e-01  2.28629508e-03  1.05873476e-01]
 [ 1.90207273e-01 -1.21368425e-02  9.81668931e-01  9.50695304e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.504860623999999 meters
Centerline goodness : 0.999498 with order 1
Centerline is valid?  [True, True]
Translation: X:6.91, Y:0.10, Z:0.96
[[ 9.80162218e-01 -5.44162608e-02 -1.90580421e-01  6.90807057e+00]
 [ 5.58746660e-02  9.98435180e-01  2.28316958e-03  1.03064182e-01]
 [ 1.90157955e-01 -1.28864939e-02  9.81668931e-01  9.59616722e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.564860623999999 meters
Centerline goodness : 0.999331 with order 1
Centerline is valid?  [True, True]
Translation: X:6.96, Y:0.10, Z:0.97
[[ 9.80036060e-01 -5.66429134e-02 -1.90580431e-01  6.96457789e+00]
 [ 5.81426572e-02  9.98305676e-01  2.28228431e-03  1.03275417e-01]
 [ 1.90128251e-01 -1.33175736e-02  9.81668931e-01  9.70183836e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.624860623999999 meters
Centerline goodness : 0.999387 with order 1
Centerline is valid?  [True, True]
Translation: X:7.02, Y:0.10, Z:0.98
[[ 9.79987101e-01 -5.74817838e-02 -1.90581021e-01  7.02104926e+00]
 [ 5.89874256e-02  9.98256231e-01  2.23195023e-03  1.03062460e-01]
 [ 1.90120395e-01 -1.34291662e-02  9.81668932e-01  9.81232670e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.684860623999999 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:7.08, Y:0.10, Z:0.99
[[ 9.79873184e-01 -5.93914853e-02 -1.90581201e-01  7.07975257e+00]
 [ 6.09297345e-02  9.98139597e-01  2.21648173e-03  1.01334628e-01]
 [ 1.90095003e-01 -1.37839330e-02  9.81668933e-01  9.94765557e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.744860623999998 meters
Centerline goodness : 0.999723 with order 1
Centerline is valid?  [True, True]
Translation: X:7.14, Y:0.10, Z:1.01
[[ 9.79752874e-01 -6.13441090e-02 -1.90581234e-01  7.13698579e+00]
 [ 6.29182052e-02  9.98016232e-01  2.21362722e-03  9.94380593e-02]
 [ 1.90067372e-01 -1.41598368e-02  9.81668933e-01  1.00614767e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.804860623999999 meters
Centerline goodness : 0.999307 with order 1
Centerline is valid?  [True, True]
Translation: X:7.20, Y:0.10, Z:1.02
[[ 9.79540857e-01 -6.46408207e-02 -1.90581412e-01  7.19636864e+00]
 [ 6.62733835e-02  9.97799081e-01  2.19819629e-03  9.82512558e-02]
 [ 1.90019865e-01 -1.47836981e-02  9.81668933e-01  1.01947196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.8648606239999985 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:7.25, Y:0.10, Z:1.03
[[ 9.79467842e-01 -6.57379059e-02 -1.90581411e-01  7.25450995e+00]
 [ 6.73909395e-02  9.97724225e-01  2.19830926e-03  9.75079389e-02]
 [ 1.90003178e-01 -1.49966336e-02  9.81668933e-01  1.03011271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.924860623999999 meters
Centerline goodness : 0.999115 with order 1
Centerline is valid?  [True, True]
Translation: X:7.31, Y:0.10, Z:1.04
[[ 9.79332059e-01 -6.77304782e-02 -1.90581482e-01  7.31333757e+00]
 [ 6.94194559e-02  9.97585151e-01  2.19212948e-03  9.65971881e-02]
 [ 1.89972782e-01 -1.53768854e-02  9.81668933e-01  1.03956251e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 7.984860623999999 meters
Centerline goodness : 0.999228 with order 1
Centerline is valid?  [True, True]
Translation: X:7.37, Y:0.10, Z:1.05
[[ 9.79253946e-01 -6.88506136e-02 -1.90581487e-01  7.37147206e+00]
 [ 7.05603804e-02  9.97505102e-01  2.19167425e-03  9.53267420e-02]
 [ 1.89955108e-01 -1.55937079e-02  9.81668933e-01  1.04920476e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.044860624 meters
Centerline goodness : 0.999420 with order 1
Centerline is valid?  [True, True]
Translation: X:7.43, Y:0.09, Z:1.06
[[ 9.79221377e-01 -6.93110066e-02 -1.90581951e-01  7.43134254e+00]
 [ 7.10214161e-02  9.97472472e-01  2.15061153e-03  9.31818582e-02]
 [ 1.89951188e-01 -1.56413248e-02  9.81668933e-01  1.06025759e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.104860624 meters
Centerline goodness : 0.999337 with order 1
Centerline is valid?  [True, True]
Translation: X:7.49, Y:0.09, Z:1.07
[[ 9.79222036e-01 -6.93017878e-02 -1.90581915e-01  7.49137914e+00]
 [ 7.10126371e-02  9.97473091e-01  2.15377517e-03  9.32298609e-02]
 [ 1.89951071e-01 -1.56427485e-02  9.81668933e-01  1.07205807e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.164860624 meters
Centerline goodness : 0.999200 with order 1
Centerline is valid?  [True, True]
Translation: X:7.55, Y:0.09, Z:1.09
[[ 9.79306879e-01 -6.80925707e-02 -1.90581843e-01  7.55046796e+00]
 [ 6.97821111e-02  9.97559918e-01  2.16013314e-03  9.39170179e-02]
 [ 1.89969719e-01 -1.54146366e-02  9.81668934e-01  1.08657980e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.224860624 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:7.61, Y:0.10, Z:1.10
[[ 9.79407573e-01 -6.66286803e-02 -1.90581806e-01  7.60991314e+00]
 [ 6.82915536e-02  9.97663061e-01  2.16333187e-03  9.53073146e-02]
 [ 1.89992289e-01 -1.51339113e-02  9.81668934e-01  1.10274791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.284860624 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:7.67, Y:0.10, Z:1.12
[[ 9.79403809e-01 -6.66841896e-02 -1.90581735e-01  7.67038201e+00]
 [ 6.83493205e-02  9.97659092e-01  2.16965575e-03  9.56760252e-02]
 [ 1.89990918e-01 -1.51511012e-02  9.81668934e-01  1.11508589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.344860623999999 meters
Centerline goodness : 0.999393 with order 1
Centerline is valid?  [True, True]
Translation: X:7.73, Y:0.09, Z:1.12
[[ 9.79284275e-01 -6.84173867e-02 -1.90581661e-01  7.72969513e+00]
 [ 7.01160586e-02  9.97536467e-01  2.17605125e-03  9.43275752e-02]
 [ 1.89963278e-01 -1.54938077e-02  9.81668934e-01  1.12416103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.404860624 meters
Centerline goodness : 0.999280 with order 1
Centerline is valid?  [True, True]
Translation: X:7.79, Y:0.09, Z:1.13
[[ 9.79174948e-01 -6.99646380e-02 -1.90581661e-01  7.78927052e+00]
 [ 7.16921476e-02  9.97424434e-01  2.17605125e-03  9.35772048e-02]
 [ 1.89938559e-01 -1.57939435e-02  9.81668934e-01  1.13314386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.464860624 meters
Centerline goodness : 0.999197 with order 1
Centerline is valid?  [True, True]
Translation: X:7.85, Y:0.09, Z:1.14
[[ 9.79030699e-01 -7.19550071e-02 -1.90581655e-01  7.84846050e+00]
 [ 7.37197184e-02  9.97276624e-01  2.17660423e-03  9.46810679e-02]
 [ 1.89906012e-01 -1.61805883e-02  9.81668934e-01  1.14377007e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.524860624 meters
Centerline goodness : 0.999226 with order 1
Centerline is valid?  [True, True]
Translation: X:7.91, Y:0.09, Z:1.16
[[ 9.78951938e-01 -7.30188345e-02 -1.90581620e-01  7.90766286e+00]
 [ 7.48039703e-02  9.97195876e-01  2.17970113e-03  9.43629756e-02]
 [ 1.89888046e-01 -1.63900845e-02  9.81668934e-01  1.15769506e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.584860624 meters
Centerline goodness : 0.999003 with order 1
Centerline is valid?  [True, True]
Translation: X:7.97, Y:0.09, Z:1.17
[[ 9.78778679e-01 -7.53056856e-02 -1.90581613e-01  7.96725964e+00]
 [ 7.71335504e-02  9.97018386e-01  2.18028110e-03  9.33002108e-02]
 [ 1.89849185e-01 -1.68342491e-02  9.81668934e-01  1.17155163e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.644860624 meters
Centerline goodness : 0.999309 with order 1
Centerline is valid?  [True, True]
Translation: X:8.03, Y:0.09, Z:1.18
[[ 9.78577013e-01 -7.78826494e-02 -1.90581537e-01  8.02631954e+00]
 [ 7.97598177e-02  9.96811712e-01  2.18692264e-03  9.34854968e-02]
 [ 1.89803585e-01 -1.73408209e-02  9.81668934e-01  1.18139640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.704860624 meters
Centerline goodness : 0.999327 with order 1
Centerline is valid?  [True, True]
Translation: X:8.09, Y:0.09, Z:1.19
[[ 9.78498439e-01 -7.88636225e-02 -1.90581567e-01  8.08704625e+00]
 [ 8.07585678e-02  9.96731299e-01  2.18432229e-03  9.15832646e-02]
 [ 1.89786349e-01 -1.75284503e-02  9.81668934e-01  1.18558558e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.764860623999999 meters
Centerline goodness : 0.999338 with order 1
Centerline is valid?  [True, True]
Translation: X:8.14, Y:0.09, Z:1.21
[[ 9.78197285e-01 -8.25151555e-02 -1.90581533e-01  8.14464027e+00]
 [ 8.44787092e-02  9.96422884e-01  2.18727761e-03  9.03673908e-02]
 [ 1.89719317e-01 -1.82396709e-02  9.81668934e-01  1.20586516e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.824860624 meters
Centerline goodness : 0.999255 with order 1
Centerline is valid?  [True, True]
Translation: X:8.21, Y:0.09, Z:1.22
[[ 9.78203973e-01 -8.24358604e-02 -1.90581522e-01  8.20589606e+00]
 [ 8.43981136e-02  9.96429712e-01  2.18819419e-03  8.85924822e-02]
 [ 1.89720706e-01 -1.82252212e-02  9.81668934e-01  1.21768216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.884860624 meters
Centerline goodness : 0.999368 with order 1
Centerline is valid?  [True, True]
Translation: X:8.27, Y:0.09, Z:1.23
[[ 9.78108831e-01 -8.35574914e-02 -1.90581374e-01  8.26609199e+00]
 [ 8.55431167e-02  9.96332038e-01  2.20101368e-03  8.53372974e-02]
 [ 1.89698418e-01 -1.84557557e-02  9.81668934e-01  1.22785693e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 8.944860624 meters
Centerline goodness : 0.999344 with order 1
Centerline is valid?  [True, True]
Translation: X:8.33, Y:0.08, Z:1.24
[[ 9.77771959e-01 -8.74113497e-02 -1.90581351e-01  8.32615361e+00]
 [ 8.94691642e-02  9.95987156e-01  2.20304040e-03  7.87224835e-02]
 [ 1.89624007e-01 -1.92052253e-02  9.81668934e-01  1.24042783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.004860623999999 meters
Centerline goodness : 0.999428 with order 1
Centerline is valid?  [True, True]
Translation: X:8.39, Y:0.07, Z:1.25
[[ 9.77400055e-01 -9.14762473e-02 -1.90581293e-01  8.38587366e+00]
 [ 9.36107512e-02  9.95606424e-01  2.20805478e-03  7.49443670e-02]
 [ 1.89541975e-01 -1.99986108e-02  9.81668934e-01  1.25243446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.064860624 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:8.44, Y:0.07, Z:1.26
[[ 9.76820278e-01 -9.74726915e-02 -1.90581267e-01  8.44436742e+00]
 [ 9.97193145e-02  9.95013152e-01  2.21028256e-03  6.70419885e-02]
 [ 1.89415425e-01 -2.11636821e-02  9.81668934e-01  1.26029315e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.124860624 meters
Centerline goodness : 0.999462 with order 1
Centerline is valid?  [True, True]
Translation: X:8.50, Y:0.06, Z:1.27
[[ 9.76506254e-01 -1.00570106e-01 -1.90581188e-01  8.50419037e+00]
 [ 1.02875728e-01  9.94691746e-01  2.21709995e-03  6.03862600e-02]
 [ 1.89346560e-01 -2.17711903e-02  9.81668934e-01  1.27132649e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.184860623999999 meters
Centerline goodness : 0.999627 with order 1
Centerline is valid?  [True, True]
Translation: X:8.56, Y:0.05, Z:1.28
[[ 9.76173449e-01 -1.03750731e-01 -1.90581174e-01  8.56241382e+00]
 [ 1.06115814e-01  9.94351303e-01  2.21829589e-03  5.15101809e-02]
 [ 1.89274488e-01 -2.23891180e-02  9.81668934e-01  1.28372382e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.244860624 meters
Centerline goodness : 0.999336 with order 1
Centerline is valid?  [True, True]
Translation: X:8.62, Y:0.04, Z:1.30
[[ 9.76031122e-01 -1.05081256e-01 -1.90581158e-01  8.62198917e+00]
 [ 1.07471368e-01  9.94205702e-01  2.21960918e-03  4.27417135e-02]
 [ 1.89243635e-01 -2.26484254e-02  9.81668934e-01  1.29726088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.304860624 meters
Centerline goodness : 0.999630 with order 1
Centerline is valid?  [True, True]
Translation: X:8.68, Y:0.04, Z:1.31
[[ 9.76091033e-01 -1.04523350e-01 -1.90581122e-01  8.68313661e+00]
 [ 1.06903665e-01  9.94266899e-01  2.22268474e-03  3.56279809e-02]
 [ 1.89256179e-01 -2.25433632e-02  9.81668934e-01  1.31012693e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.364860624 meters
Centerline goodness : 0.999606 with order 1
Centerline is valid?  [True, True]
Translation: X:8.74, Y:0.03, Z:1.32
[[ 9.76223754e-01 -1.03276681e-01 -1.90580979e-01  8.74234142e+00]
 [ 1.05636139e-01  9.94402339e-01  2.23492698e-03  2.56052670e-02]
 [ 1.89283355e-01 -2.23140275e-02  9.81668934e-01  1.32249873e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.424860623999999 meters
Centerline goodness : 0.999503 with order 1
Centerline is valid?  [True, True]
Translation: X:8.80, Y:0.02, Z:1.33
[[ 9.76360564e-01 -1.01975210e-01 -1.90580968e-01  8.80318491e+00]
 [ 1.04310609e-01  9.94542255e-01  2.23584597e-03  1.91723017e-02]
 [ 1.89312825e-01 -2.20626087e-02  9.81668934e-01  1.33446234e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.484860624 meters
Centerline goodness : 0.999507 with order 1
Centerline is valid?  [True, True]
Translation: X:8.86, Y:0.01, Z:1.34
[[ 9.76630841e-01 -9.93536513e-02 -1.90580828e-01  8.86298705e+00]
 [ 1.01642525e-01  9.94818448e-01  2.24775931e-03  9.19461454e-03]
 [ 1.89370000e-01 -2.15663477e-02  9.81668934e-01  1.34437705e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.544860624 meters
Centerline goodness : 0.999638 with order 1
Centerline is valid?  [True, True]
Translation: X:8.92, Y:0.00, Z:1.36
[[ 9.76860184e-01 -9.70728653e-02 -1.90580797e-01  8.92163135e+00]
 [ 9.93197716e-02  9.95053023e-01  2.25039617e-03  1.73980509e-03]
 [ 1.89419545e-01 -2.11267636e-02  9.81668934e-01  1.35928422e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.604860623999999 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:8.98, Y:-0.01, Z:1.37
[[ 9.77207466e-01 -9.35121798e-02 -1.90580800e-01  8.98105731e+00]
 [ 9.56927161e-02  9.95408379e-01  2.25011778e-03 -6.97550563e-03]
 [ 1.89495312e-01 -2.04360263e-02  9.81668934e-01  1.37381171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.664860624 meters
Centerline goodness : 0.999411 with order 1
Centerline is valid?  [True, True]
Translation: X:9.04, Y:-0.01, Z:1.39
[[ 9.77412789e-01 -9.13411957e-02 -1.90580760e-01  9.04079008e+00]
 [ 9.34819499e-02  9.95618424e-01  2.25351218e-03 -1.20357066e-02]
 [ 1.89539877e-01 -2.00184727e-02  9.81668934e-01  1.38741420e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.724860624 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:9.10, Y:-0.02, Z:1.40
[[ 9.77689559e-01 -8.83296598e-02 -1.90580683e-01  9.09994264e+00]
 [ 9.04155576e-02  9.95901561e-01  2.25993819e-03 -1.99088100e-02]
 [ 1.89599981e-01 -1.94409767e-02  9.81668934e-01  1.39888973e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.784860624 meters
Centerline goodness : 0.999168 with order 1
Centerline is valid?  [True, True]
Translation: X:9.16, Y:-0.03, Z:1.41
[[ 9.77738874e-01 -8.77821051e-02 -1.90580682e-01  9.16039608e+00]
 [ 8.98578216e-02  9.95952039e-01  2.26003386e-03 -2.61251986e-02]
 [ 1.89610829e-01 -1.93348879e-02  9.81668934e-01  1.41047583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.844860623999999 meters
Centerline goodness : 0.998748 with order 1
Centerline is valid?  [True, True]
Translation: X:9.22, Y:-0.03, Z:1.42
[[ 9.77755744e-01 -8.75943405e-02 -1.90580525e-01  9.22176621e+00]
 [ 8.96690994e-02  9.95969018e-01  2.27320028e-03 -3.41935945e-02]
 [ 1.89613179e-01 -1.93118187e-02  9.81668934e-01  1.42233311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.904860624 meters
Centerline goodness : 0.999059 with order 1
Centerline is valid?  [True, True]
Translation: X:9.28, Y:-0.04, Z:1.43
[[ 9.77915614e-01 -8.57914465e-02 -1.90580375e-01  9.28219685e+00]
 [ 8.78350394e-02  9.96132412e-01  2.28573394e-03 -4.18018970e-02]
 [ 1.89647192e-01 -1.89748897e-02  9.81668934e-01  1.43417382e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 9.964860624 meters
Centerline goodness : 0.999132 with order 1
Centerline is valid?  [True, True]
Translation: X:9.34, Y:-0.05, Z:1.45
[[ 9.78193440e-01 -8.25637281e-02 -1.90580230e-01  9.34183276e+00]
 [ 8.45495164e-02  9.96416629e-01  2.29777587e-03 -4.62590971e-02]
 [ 1.89707597e-01 -1.83611355e-02  9.81668934e-01  1.44692438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.024860623999999 meters
Centerline goodness : 0.998813 with order 1
Centerline is valid?  [True, True]
Translation: X:9.40, Y:-0.05, Z:1.46
[[ 9.78752732e-01 -7.56456464e-02 -1.90580232e-01  9.40108190e+00]
 [ 7.75025024e-02  9.96989510e-01  2.29756250e-03 -5.18921014e-02]
 [ 1.89832692e-01 -1.70191905e-02  9.81668934e-01  1.45887532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.084860624 meters
Centerline goodness : 0.999036 with order 1
Centerline is valid?  [True, True]
Translation: X:9.46, Y:-0.05, Z:1.47
[[ 9.79111873e-01 -7.08457437e-02 -1.90580220e-01  9.45984982e+00]
 [ 7.26133515e-02  9.97357518e-01  2.29855691e-03 -5.38244293e-02]
 [ 1.89913773e-01 -1.60892129e-02  9.81668934e-01  1.46907300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.144860624 meters
Centerline goodness : 0.998790 with order 1
Centerline is valid?  [True, True]
Translation: X:9.52, Y:-0.06, Z:1.48
[[ 9.79536664e-01 -6.47077368e-02 -1.90580253e-01  9.51914988e+00]
 [ 6.63604343e-02  9.97793076e-01  2.29586598e-03 -5.54385308e-02]
 [ 1.90011096e-01 -1.48958732e-02  9.81668934e-01  1.48366527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.204860624 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:9.58, Y:-0.06, Z:1.49
[[ 9.79792352e-01 -6.07134953e-02 -1.90580218e-01  9.57780187e+00]
 [ 6.22923103e-02  9.98055301e-01  2.29878725e-03 -5.77566023e-02]
 [ 1.90070029e-01 -1.41240162e-02  9.81668934e-01  1.49325327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.264860623999999 meters
Centerline goodness : 0.998769 with order 1
Centerline is valid?  [True, True]
Translation: X:9.64, Y:-0.06, Z:1.51
[[ 9.79802917e-01 -6.05426180e-02 -1.90580260e-01  9.63598822e+00]
 [ 6.21175674e-02  9.98066200e-01  2.29526981e-03 -5.91556637e-02]
 [ 1.90072754e-01 -1.40872942e-02  9.81668934e-01  1.50718596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.324860624 meters
Centerline goodness : 0.998993 with order 1
Centerline is valid?  [True, True]
Translation: X:9.70, Y:-0.06, Z:1.52
[[ 9.79579362e-01 -6.40578682e-02 -1.90580333e-01  9.69502525e+00]
 [ 6.56971637e-02  9.97836982e-01  2.28919629e-03 -6.04471219e-02]
 [ 1.90021463e-01 -1.47630368e-02  9.81668934e-01  1.51863116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.384860624 meters
Centerline goodness : 0.998844 with order 1
Centerline is valid?  [True, True]
Translation: X:9.75, Y:-0.06, Z:1.53
[[ 9.79400236e-01 -6.67405635e-02 -1.90580366e-01  9.75456577e+00]
 [ 6.84293305e-02  9.97653346e-01  2.28646830e-03 -6.10700886e-02]
 [ 1.89980539e-01 -1.52806544e-02  9.81668934e-01  1.52905259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.444860623999999 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:9.81, Y:-0.06, Z:1.54
[[ 9.78970697e-01 -7.27701774e-02 -1.90580366e-01  9.81372989e+00]
 [ 7.45713101e-02  9.97213062e-01  2.28646830e-03 -6.11912138e-02]
 [ 1.89882843e-01 -1.64502130e-02  9.81668934e-01  1.53981020e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.504860623999999 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:9.87, Y:-0.06, Z:1.55
[[ 9.78566449e-01 -7.80180633e-02 -1.90580393e-01  9.87270649e+00]
 [ 7.99165349e-02  9.96798942e-01  2.28416361e-03 -6.09018474e-02]
 [ 1.89792128e-01 -1.74657305e-02  9.81668934e-01  1.55171083e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.564860624 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:9.93, Y:-0.06, Z:1.56
[[ 9.77962246e-01 -8.52582095e-02 -1.90580385e-01  9.93177414e+00]
 [ 8.72916962e-02  9.96180174e-01  2.28483798e-03 -6.03354773e-02]
 [ 1.89657600e-01 -1.88705704e-02  9.81668934e-01  1.56442866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.624860624 meters
Centerline goodness : 0.998970 with order 1
Centerline is valid?  [True, True]
Translation: X:9.99, Y:-0.06, Z:1.58
[[ 9.77805097e-01 -8.70420183e-02 -1.90580376e-01  9.99145142e+00]
 [ 8.91088866e-02  9.96019268e-01  2.28562959e-03 -6.06036616e-02]
 [ 1.89622780e-01 -1.92173053e-02  9.81668934e-01  1.57671202e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.684860623999999 meters
Centerline goodness : 0.999092 with order 1
Centerline is valid?  [True, True]
Translation: X:10.05, Y:-0.06, Z:1.59
[[ 9.77472678e-01 -9.06990298e-02 -1.90580296e-01  1.00502061e+01]
 [ 9.28352997e-02  9.95678840e-01  2.29228439e-03 -5.86200898e-02]
 [ 1.89548860e-01 -1.99332242e-02  9.81668934e-01  1.58762000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.744860624 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:10.11, Y:-0.06, Z:1.60
[[ 9.77277343e-01 -9.27802407e-02 -1.90580224e-01  1.01094682e+01]
 [ 9.49564177e-02  9.95478778e-01  2.29821840e-03 -5.77629722e-02]
 [ 1.89505339e-01 -2.03428121e-02  9.81668934e-01  1.59830779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.804860624 meters
Centerline goodness : 0.999117 with order 1
Centerline is valid?  [True, True]
Translation: X:10.17, Y:-0.06, Z:1.61
[[ 9.76726032e-01 -9.84146905e-02 -1.90580188e-01  1.01674760e+01]
 [ 1.00696383e-01  9.94914540e-01  2.30124656e-03 -5.83200720e-02]
 [ 1.89384523e-01 -2.14384230e-02  9.81668934e-01  1.61014166e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.864860623999999 meters
Centerline goodness : 0.999190 with order 1
Centerline is valid?  [True, True]
Translation: X:10.23, Y:-0.06, Z:1.62
[[ 9.76413966e-01 -1.01464249e-01 -1.90580097e-01  1.02266410e+01]
 [ 1.03804163e-01  9.94595076e-01  2.30870004e-03 -5.83839452e-02]
 [ 1.89315776e-01 -2.20372545e-02  9.81668934e-01  1.62378696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.924860623999999 meters
Centerline goodness : 0.999214 with order 1
Centerline is valid?  [True, True]
Translation: X:10.29, Y:-0.06, Z:1.64
[[ 9.76468495e-01 -1.00938134e-01 -1.90580091e-01  1.02873500e+01]
 [ 1.03268358e-01  9.94650850e-01  2.30925208e-03 -5.53433067e-02]
 [ 1.89327557e-01 -2.19358050e-02  9.81668934e-01  1.63754273e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 10.984860624 meters
Centerline goodness : 0.999088 with order 1
Centerline is valid?  [True, True]
Translation: X:10.35, Y:-0.05, Z:1.65
[[ 9.76754613e-01 -9.81311049e-02 -1.90579938e-01  1.03456765e+01]
 [ 1.00411470e-01  9.94943288e-01  2.32176675e-03 -5.34737690e-02]
 [ 1.89388393e-01 -2.14042081e-02  9.81668934e-01  1.64710134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.044860624 meters
Centerline goodness : 0.999109 with order 1
Centerline is valid?  [True, True]
Translation: X:10.40, Y:-0.05, Z:1.66
[[ 9.76945000e-01 -9.62171560e-02 -1.90579971e-01  1.04040989e+01]
 [ 9.84613640e-02  9.95138172e-01  2.31909195e-03 -5.12884133e-02]
 [ 1.89430267e-01 -2.10303891e-02  9.81668934e-01  1.65874565e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.104860623999999 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:10.46, Y:-0.05, Z:1.67
[[ 9.77097922e-01 -9.46515547e-02 -1.90579993e-01  1.04644521e+01]
 [ 9.68662528e-02  9.95294710e-01  2.31725603e-03 -4.78941696e-02]
 [ 1.89463927e-01 -2.07249558e-02  9.81668934e-01  1.67332386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.164860624 meters
Centerline goodness : 0.999502 with order 1
Centerline is valid?  [True, True]
Translation: X:10.53, Y:-0.05, Z:1.69
[[ 9.77111087e-01 -9.45158449e-02 -1.90579847e-01  1.05250076e+01]
 [ 9.67303199e-02  9.95307902e-01  2.32921134e-03 -4.74709765e-02]
 [ 1.89465480e-01 -2.07107478e-02  9.81668934e-01  1.68594293e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.224860624 meters
Centerline goodness : 0.999303 with order 1
Centerline is valid?  [True, True]
Translation: X:10.58, Y:-0.05, Z:1.70
[[ 9.77022461e-01 -9.54278523e-02 -1.90579737e-01  1.05838413e+01]
 [ 9.76610328e-02  9.95216989e-01  2.33814333e-03 -4.63732927e-02]
 [ 1.89445068e-01 -2.08966325e-02  9.81668934e-01  1.69632941e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.284860623999998 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:10.64, Y:-0.05, Z:1.71
[[ 9.76981928e-01 -9.58420236e-02 -1.90579691e-01  1.06438364e+01]
 [ 9.80836464e-02  9.95175419e-01  2.34192831e-03 -4.52090564e-02]
 [ 1.89435768e-01 -2.09807726e-02  9.81668934e-01  1.71355264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.344860623999999 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:10.70, Y:-0.05, Z:1.72
[[ 9.76959085e-01 -9.60749114e-02 -1.90579532e-01  1.07042636e+01]
 [ 9.83233401e-02  9.95151735e-01  2.35474145e-03 -4.56146641e-02]
 [ 1.89429321e-01 -2.10389022e-02  9.81668935e-01  1.72253869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.404860624 meters
Centerline goodness : 0.999376 with order 1
Centerline is valid?  [True, True]
Translation: X:10.77, Y:-0.05, Z:1.73
[[ 9.76835482e-01 -9.73238316e-02 -1.90579414e-01  1.07653894e+01]
 [ 9.95973510e-02  9.95025014e-01  2.36426058e-03 -4.67321345e-02]
 [ 1.89401186e-01 -2.12906984e-02  9.81668935e-01  1.73413590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.464860624 meters
Centerline goodness : 0.999377 with order 1
Centerline is valid?  [True, True]
Translation: X:10.82, Y:-0.05, Z:1.75
[[ 9.76524584e-01 -1.00395609e-01 -1.90579273e-01  1.08242231e+01]
 [ 1.02728513e-01  9.94706594e-01  2.37562269e-03 -4.63271537e-02]
 [ 1.89331957e-01 -2.18977793e-02  9.81668935e-01  1.74892797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.524860623999999 meters
Centerline goodness : 0.999377 with order 1
Centerline is valid?  [True, True]
Translation: X:10.88, Y:-0.05, Z:1.76
[[ 9.76384328e-01 -1.01750610e-01 -1.90579267e-01  1.08837310e+01]
 [ 1.04108837e-01  9.94563072e-01  2.37611120e-03 -4.77055451e-02]
 [ 1.89301330e-01 -2.21609835e-02  9.81668935e-01  1.76085076e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.584860624 meters
Centerline goodness : 0.999329 with order 1
Centerline is valid?  [True, True]
Translation: X:10.94, Y:-0.05, Z:1.77
[[ 9.76083316e-01 -1.04598842e-01 -1.90579228e-01  1.09426261e+01]
 [ 1.07010696e-01  9.94255023e-01  2.37922452e-03 -4.90479877e-02]
 [ 1.89235490e-01 -2.27163371e-02  9.81668935e-01  1.77337191e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.644860624 meters
Centerline goodness : 0.999305 with order 1
Centerline is valid?  [True, True]
Translation: X:11.00, Y:-0.05, Z:1.79
[[ 9.76016917e-01 -1.05216632e-01 -1.90579216e-01  1.10017492e+01]
 [ 1.07640163e-01  9.94187070e-01  2.38014052e-03 -4.90097041e-02]
 [ 1.89220962e-01 -2.28370354e-02  9.81668935e-01  1.78744890e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.704860623999998 meters
Centerline goodness : 0.999129 with order 1
Centerline is valid?  [True, True]
Translation: X:11.06, Y:-0.05, Z:1.80
[[ 9.76339759e-01 -1.02177496e-01 -1.90579208e-01  1.10607284e+01]
 [ 1.04544575e-01  9.94517352e-01  2.38080912e-03 -4.89547623e-02]
 [ 1.89291064e-01 -2.22485010e-02  9.81668935e-01  1.80195031e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.764860623999999 meters
Centerline goodness : 0.999328 with order 1
Centerline is valid?  [True, True]
Translation: X:11.12, Y:-0.05, Z:1.81
[[ 9.76539336e-01 -1.00252139e-01 -1.90579204e-01  1.11203398e+01]
 [ 1.02583435e-01  9.94721554e-01  2.38113982e-03 -4.88094851e-02]
 [ 1.89334527e-01 -2.18755461e-02  9.81668935e-01  1.81269200e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.824860624 meters
Centerline goodness : 0.999202 with order 1
Centerline is valid?  [True, True]
Translation: X:11.18, Y:-0.05, Z:1.82
[[ 9.76662015e-01 -9.90498792e-02 -1.90579197e-01  1.11809354e+01]
 [ 1.01358896e-01  9.94847074e-01  2.38169485e-03 -4.88328286e-02]
 [ 1.89361250e-01 -2.16430080e-02  9.81668935e-01  1.82262036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.884860624 meters
Centerline goodness : 0.999328 with order 1
Centerline is valid?  [True, True]
Translation: X:11.24, Y:-0.05, Z:1.84
[[ 9.76709214e-01 -9.85836006e-02 -1.90579078e-01  1.12399530e+01]
 [ 1.00885756e-01  9.94895144e-01  2.39114223e-03 -5.03098611e-02]
 [ 1.89370472e-01 -2.15621650e-02  9.81668935e-01  1.83562289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 11.944860623999999 meters
Centerline goodness : 0.999253 with order 1
Centerline is valid?  [True, True]
Translation: X:11.30, Y:-0.05, Z:1.85
[[ 9.76751830e-01 -9.81604670e-02 -1.90579078e-01  1.13002573e+01]
 [ 1.00454743e-01  9.94938755e-01  2.39114223e-03 -5.05101854e-02]
 [ 1.89379795e-01 -2.14801250e-02  9.81668935e-01  1.84896787e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.004860623999999 meters
Centerline goodness : 0.999503 with order 1
Centerline is valid?  [True, True]
Translation: X:11.36, Y:-0.05, Z:1.86
[[ 9.76793297e-01 -9.77480203e-02 -1.90578539e-01  1.13589305e+01]
 [ 1.00042761e-01  9.94980163e-01  2.43341782e-03 -5.21906314e-02]
 [ 1.89384004e-01 -2.14429494e-02  9.81668936e-01  1.85946467e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.064860624 meters
Centerline goodness : 0.999406 with order 1
Centerline is valid?  [True, True]
Translation: X:11.42, Y:-0.06, Z:1.87
[[ 9.76755916e-01 -9.81208035e-02 -1.90578564e-01  1.14184532e+01]
 [ 1.00422105e-01  9.94941953e-01  2.43144439e-03 -5.60950807e-02]
 [ 1.89376033e-01 -2.15132282e-02  9.81668936e-01  1.87240715e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.124860623999998 meters
Centerline goodness : 0.999458 with order 1
Centerline is valid?  [True, True]
Translation: X:11.48, Y:-0.06, Z:1.88
[[ 9.76705875e-01 -9.86177509e-02 -1.90578523e-01  1.14787170e+01]
 [ 1.00928920e-01  9.94890660e-01  2.43463839e-03 -5.96827453e-02]
 [ 1.89364694e-01 -2.16128101e-02  9.81668936e-01  1.88326657e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.184860623999999 meters
Centerline goodness : 0.999286 with order 1
Centerline is valid?  [True, True]
Translation: X:11.54, Y:-0.06, Z:1.89
[[ 9.76761451e-01 -9.80668035e-02 -1.90577987e-01  1.15379052e+01]
 [ 1.00375673e-01  9.94946528e-01  2.47595394e-03 -6.12091784e-02]
 [ 1.89372097e-01 -2.15478100e-02  9.81668936e-01  1.89360832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.244860624 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:11.60, Y:-0.06, Z:1.91
[[ 9.77002475e-01 -9.56362309e-02 -1.90577740e-01  1.15968492e+01]
 [ 9.79034788e-02  9.95192788e-01  2.49480265e-03 -6.25634554e-02]
 [ 1.89422999e-01 -2.10956521e-02  9.81668937e-01  1.90913780e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.304860624 meters
Centerline goodness : 0.999310 with order 1
Centerline is valid?  [True, True]
Translation: X:11.66, Y:-0.06, Z:1.92
[[ 9.77164272e-01 -9.39687849e-02 -1.90577680e-01  1.16564127e+01]
 [ 9.62058675e-02  9.95358319e-01  2.49937279e-03 -6.42497497e-02]
 [ 1.89458216e-01 -2.07769888e-02  9.81668937e-01  1.92187337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.364860623999999 meters
Centerline goodness : 0.999090 with order 1
Centerline is valid?  [True, True]
Translation: X:11.72, Y:-0.07, Z:1.93
[[ 9.77170108e-01 -9.39081064e-02 -1.90577669e-01  1.17176166e+01]
 [ 9.61442246e-02  9.95364273e-01  2.50023109e-03 -6.57440163e-02]
 [ 1.89459411e-01 -2.07660933e-02  9.81668937e-01  1.93027996e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.424860623999999 meters
Centerline goodness : 0.999138 with order 1
Centerline is valid?  [True, True]
Translation: X:11.78, Y:-0.07, Z:1.94
[[ 9.77219842e-01 -9.33894879e-02 -1.90577502e-01  1.17780725e+01]
 [ 9.56183802e-02  9.95414894e-01  2.51284231e-03 -6.72074935e-02]
 [ 1.89469011e-01 -2.06783114e-02  9.81668937e-01  1.94420713e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.484860624 meters
Centerline goodness : 0.999212 with order 1
Centerline is valid?  [True, True]
Translation: X:11.84, Y:-0.07, Z:1.96
[[ 9.77228156e-01 -9.33027873e-02 -1.90577334e-01  1.18393445e+01]
 [ 9.55325194e-02  9.95423106e-01  2.52557630e-03 -6.89784782e-02]
 [ 1.89469438e-01 -2.06743971e-02  9.81668937e-01  1.95692231e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.544860623999998 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:11.90, Y:-0.07, Z:1.97
[[ 9.77122383e-01 -9.44044067e-02 -1.90577166e-01  1.18992254e+01]
 [ 9.66570826e-02  9.95314506e-01  2.53820316e-03 -7.08237542e-02]
 [ 1.89444600e-01 -2.09007680e-02  9.81668937e-01  1.96947675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.604860623999999 meters
Centerline goodness : 0.999190 with order 1
Centerline is valid?  [True, True]
Translation: X:11.96, Y:-0.07, Z:1.98
[[ 9.76996091e-01 -9.57027341e-02 -1.90577082e-01  1.19590789e+01]
 [ 9.79807852e-02  9.95185054e-01  2.54444860e-03 -7.42052742e-02]
 [ 1.89415953e-01 -2.11588085e-02  9.81668937e-01  1.98479775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.664860624 meters
Centerline goodness : 0.999168 with order 1
Centerline is valid?  [True, True]
Translation: X:12.02, Y:-0.08, Z:1.99
[[ 9.77003571e-01 -9.56274762e-02 -1.90576512e-01  1.20204204e+01]
 [ 9.79122155e-02  9.95191694e-01  2.58643687e-03 -7.80198564e-02]
 [ 1.89412828e-01 -2.11867266e-02  9.81668938e-01  1.99373919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.724860624 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:12.08, Y:-0.08, Z:2.01
[[ 9.76970188e-01 -9.59688128e-02 -1.90576073e-01  1.20815677e+01]
 [ 9.82660659e-02  9.95156733e-01  2.61841167e-03 -8.12080368e-02]
 [ 1.89401777e-01 -2.12852711e-02  9.81668938e-01  2.00696786e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.784860623999998 meters
Centerline goodness : 0.998907 with order 1
Centerline is valid?  [True, True]
Translation: X:12.14, Y:-0.08, Z:2.02
[[ 9.77084131e-01 -9.48020483e-02 -1.90575895e-01  1.21411020e+01]
 [ 9.70800625e-02  9.95273097e-01  2.63128949e-03 -8.40394583e-02]
 [ 1.89425610e-01 -2.10721111e-02  9.81668938e-01  2.01820240e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.844860623999999 meters
Centerline goodness : 0.999053 with order 1
Centerline is valid?  [True, True]
Translation: X:12.20, Y:-0.09, Z:2.03
[[ 9.77190167e-01 -9.37029298e-02 -1.90575807e-01  1.22018061e+01]
 [ 9.59617093e-02  9.95381531e-01  2.63765343e-03 -8.91910514e-02]
 [ 1.89448483e-01 -2.08654692e-02  9.81668938e-01  2.03005761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.904860624 meters
Centerline goodness : 0.999033 with order 1
Centerline is valid?  [True, True]
Translation: X:12.26, Y:-0.09, Z:2.04
[[ 9.77371617e-01 -9.17913853e-02 -1.90575612e-01  1.22608496e+01]
 [ 9.40172823e-02  9.95567034e-01  2.65168234e-03 -9.34612029e-02]
 [ 1.89487395e-01 -2.05090802e-02  9.81668938e-01  2.04140905e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 12.964860623999998 meters
Centerline goodness : 0.998770 with order 1
Centerline is valid?  [True, True]
Translation: X:12.32, Y:-0.10, Z:2.05
[[ 9.77524414e-01 -9.01496746e-02 -1.90575593e-01  1.23205461e+01]
 [ 9.23452717e-02  9.95723512e-01  2.65305176e-03 -9.60530830e-02]
 [ 1.89521427e-01 -2.01921778e-02  9.81668938e-01  2.05319091e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.024860623999999 meters
Centerline goodness : 0.999231 with order 1
Centerline is valid?  [True, True]
Translation: X:12.38, Y:-0.10, Z:2.07
[[ 9.77617535e-01 -8.91341772e-02 -1.90575586e-01  1.23808967e+01]
 [ 9.13109686e-02  9.95818892e-01  2.65357428e-03 -9.99285343e-02]
 [ 1.89542245e-01 -1.99958221e-02  9.81668938e-01  2.06523292e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.084860624 meters
Centerline goodness : 0.999065 with order 1
Centerline is valid?  [True, True]
Translation: X:12.44, Y:-0.10, Z:2.08
[[ 9.77779504e-01 -8.73397842e-02 -1.90575452e-01  1.24408801e+01]
 [ 8.94850092e-02  9.95984609e-01  2.66312958e-03 -1.02461372e-01]
 [ 1.89577620e-01 -1.96575996e-02  9.81668938e-01  2.07822034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.144860624 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:12.50, Y:-0.11, Z:2.09
[[ 9.78087188e-01 -8.38241252e-02 -1.90575364e-01  1.25000119e+01]
 [ 8.59051114e-02  9.96299747e-01  2.66946420e-03 -1.05610103e-01]
 [ 1.89646421e-01 -1.89823666e-02  9.81668938e-01  2.09030297e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.204860623999998 meters
Centerline goodness : 0.999018 with order 1
Centerline is valid?  [True, True]
Translation: X:12.56, Y:-0.11, Z:2.10
[[ 9.78300456e-01 -8.12972857e-02 -1.90575366e-01  1.25593620e+01]
 [ 8.33311899e-02  9.96518333e-01  2.66931358e-03 -1.06767324e-01]
 [ 1.89694838e-01 -1.84922627e-02  9.81668938e-01  2.10313569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.264860623999999 meters
Centerline goodness : 0.999160 with order 1
Centerline is valid?  [True, True]
Translation: X:12.62, Y:-0.11, Z:2.11
[[ 9.78453295e-01 -7.94366342e-02 -1.90575367e-01  1.26187571e+01]
 [ 8.14358696e-02  9.96675009e-01  2.66921596e-03 -1.09379858e-01]
 [ 1.89729672e-01 -1.81313739e-02  9.81668938e-01  2.11452546e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.324860624 meters
Centerline goodness : 0.998945 with order 1
Centerline is valid?  [True, True]
Translation: X:12.68, Y:-0.11, Z:2.13
[[ 9.78483320e-01 -7.90659387e-02 -1.90575367e-01  1.26800499e+01]
 [ 8.10582707e-02  9.96705790e-01  2.66921596e-03 -1.11803066e-01]
 [ 1.89736528e-01 -1.80594930e-02  9.81668938e-01  2.12568303e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.384860623999998 meters
Centerline goodness : 0.998994 with order 1
Centerline is valid?  [True, True]
Translation: X:12.74, Y:-0.11, Z:2.14
[[ 9.78586567e-01 -7.77780665e-02 -1.90575189e-01  1.27401969e+01]
 [ 7.97488512e-02  9.96811381e-01  2.68184269e-03 -1.12129058e-01]
 [ 1.89758929e-01 -1.78225677e-02  9.81668939e-01  2.13780517e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.444860623999999 meters
Centerline goodness : 0.998871 with order 1
Centerline is valid?  [True, True]
Translation: X:12.80, Y:-0.11, Z:2.15
[[ 9.78737859e-01 -7.58507351e-02 -1.90575102e-01  1.27995044e+01]
 [ 7.77868282e-02  9.96966390e-01  2.68807460e-03 -1.12963948e-01]
 [ 1.89793079e-01 -1.74551531e-02  9.81668939e-01  2.14830360e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.504860623999999 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:12.86, Y:-0.11, Z:2.16
[[ 9.79114748e-01 -7.08197771e-02 -1.90575102e-01  1.28593588e+01]
 [ 7.26621641e-02  9.97352989e-01  2.68807460e-03 -1.13039903e-01]
 [ 1.89880278e-01 -1.64795328e-02  9.81668939e-01  2.15999639e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.564860624 meters
Centerline goodness : 0.998720 with order 1
Centerline is valid?  [True, True]
Translation: X:12.92, Y:-0.11, Z:2.17
[[ 9.79523986e-01 -6.49145239e-02 -1.90575094e-01  1.29190511e+01]
 [ 6.66470101e-02  9.97772994e-01  2.68863071e-03 -1.10481648e-01]
 [ 1.89976151e-01 -1.53348385e-02  9.81668939e-01  2.17256821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.624860623999998 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:12.98, Y:-0.11, Z:2.18
[[ 9.79717693e-01 -6.19224522e-02 -1.90575056e-01  1.29781172e+01]
 [ 6.35997118e-02  9.97971860e-01  2.69131828e-03 -1.08778072e-01]
 [ 1.90021890e-01 -1.47572508e-02  9.81668939e-01  2.18335772e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.684860623999999 meters
Centerline goodness : 0.999025 with order 1
Centerline is valid?  [True, True]
Translation: X:13.04, Y:-0.11, Z:2.19
[[ 9.79921068e-01 -5.86160479e-02 -1.90575075e-01  1.30383987e+01]
 [ 6.02314359e-02  9.98180814e-01  2.68995626e-03 -1.06925414e-01]
 [ 1.90070709e-01 -1.41145552e-02  9.81668939e-01  2.19283060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.744860624 meters
Centerline goodness : 0.998972 with order 1
Centerline is valid?  [True, True]
Translation: X:13.10, Y:-0.11, Z:2.20
[[ 9.80056497e-01 -5.63064553e-02 -1.90575042e-01  1.30976638e+01]
 [ 5.78792563e-02  9.98319960e-01  2.69228823e-03 -1.05055353e-01]
 [ 1.90103275e-01 -1.36689363e-02  9.81668939e-01  2.20391615e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.804860623999998 meters
Centerline goodness : 0.999112 with order 1
Centerline is valid?  [True, True]
Translation: X:13.16, Y:-0.10, Z:2.22
[[ 9.80216982e-01 -5.34399264e-02 -1.90575029e-01  1.31575757e+01]
 [ 5.49594873e-02  9.98484953e-01  2.69321966e-03 -1.00420610e-01]
 [ 1.90142373e-01 -1.31138455e-02  9.81668939e-01  2.21547946e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.864860623999999 meters
Centerline goodness : 0.999105 with order 1
Centerline is valid?  [True, True]
Translation: X:13.22, Y:-0.10, Z:2.23
[[ 9.80449341e-01 -4.89925021e-02 -1.90574986e-01  1.32167302e+01]
 [ 5.04297641e-02  9.98723970e-01  2.69627593e-03 -9.70544097e-02]
 [ 1.90199709e-01 -1.22542135e-02  9.81668939e-01  2.22644013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.924860623999999 meters
Centerline goodness : 0.998228 with order 1
Centerline is valid?  [True, True]
Translation: X:13.28, Y:-0.09, Z:2.24
[[ 9.80613512e-01 -4.55884483e-02 -1.90575007e-01  1.32759181e+01]
 [ 4.69619726e-02  9.98893043e-01  2.69479723e-03 -9.46303717e-02]
 [ 1.90241197e-01 -1.15923328e-02  9.81668939e-01  2.23899577e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 13.984860624 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:13.34, Y:-0.09, Z:2.25
[[ 9.80828517e-01 -4.07011497e-02 -1.90575016e-01  1.33350345e+01]
 [ 4.19834381e-02  9.99114674e-01  2.69414826e-03 -9.10939923e-02]
 [ 1.90296640e-01 -1.06434918e-02  9.81668939e-01  2.25208719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.044860623999998 meters
Centerline goodness : 0.997921 with order 1
Centerline is valid?  [True, True]
Translation: X:13.39, Y:-0.09, Z:2.26
[[ 9.80980756e-01 -3.68494877e-02 -1.90575110e-01  1.33949079e+01]
 [ 3.80586684e-02  9.99271893e-01  2.68746489e-03 -8.80576766e-02]
 [ 1.90337319e-01 -9.88938625e-03  9.81668939e-01  2.26299580e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.104860623999999 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:13.45, Y:-0.08, Z:2.27
[[ 9.81194747e-01 -3.06266714e-02 -1.90575118e-01  1.34534588e+01]
 [ 3.17196995e-02  9.99493192e-01  2.68688245e-03 -8.31572842e-02]
 [ 1.90396243e-01 -8.68134042e-03  9.81668939e-01  2.27429794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.164860624 meters
Centerline goodness : 0.998322 with order 1
Centerline is valid?  [True, True]
Translation: X:13.51, Y:-0.08, Z:2.29
[[ 9.81351761e-01 -2.50960654e-02 -1.90575203e-01  1.35117025e+01]
 [ 2.60847698e-02  9.99656140e-01  2.68082580e-03 -7.75862984e-02]
 [ 1.90442394e-01 -7.60194343e-03  9.81668939e-01  2.28642356e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.224860623999998 meters
Centerline goodness : 0.998156 with order 1
Centerline is valid?  [True, True]
Translation: X:13.57, Y:-0.07, Z:2.30
[[ 9.81345032e-01 -2.53574564e-02 -1.90575254e-01  1.35700328e+01]
 [ 2.63503435e-02  9.99649184e-01  2.67725254e-03 -7.10437622e-02]
 [ 1.90440508e-01 -7.64903188e-03  9.81668939e-01  2.29784256e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.284860623999998 meters
Centerline goodness : 0.998383 with order 1
Centerline is valid?  [True, True]
Translation: X:13.63, Y:-0.07, Z:2.31
[[ 9.81282881e-01 -2.76545895e-02 -1.90575789e-01  1.36274945e+01]
 [ 2.86828237e-02  9.99585081e-01  2.63857644e-03 -6.87751394e-02]
 [ 1.90423747e-01 -8.05544166e-03  9.81668939e-01  2.30792271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.344860623999999 meters
Centerline goodness : 0.998435 with order 1
Centerline is valid?  [True, True]
Translation: X:13.69, Y:-0.07, Z:2.32
[[ 9.81146099e-01 -3.21422168e-02 -1.90575994e-01  1.36865797e+01]
 [ 3.32512579e-02  9.99443580e-01  2.62367632e-03 -6.52767599e-02]
 [ 1.90385623e-01 -8.91110133e-03  9.81668939e-01  2.31673976e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.404860624 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:13.74, Y:-0.06, Z:2.33
[[ 9.81077756e-01 -3.41644864e-02 -1.90576035e-01  1.37448480e+01]
 [ 3.53106688e-02  9.99372948e-01  2.62072986e-03 -6.40729061e-02]
 [ 1.90366998e-01 -9.30050703e-03  9.81668939e-01  2.32690153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.464860623999998 meters
Centerline goodness : 0.998135 with order 1
Centerline is valid?  [True, True]
Translation: X:13.80, Y:-0.06, Z:2.34
[[ 9.80897322e-01 -3.90028219e-02 -1.90576032e-01  1.38043477e+01]
 [ 4.02392660e-02  9.99186635e-01  2.62094781e-03 -5.88636844e-02]
 [ 1.90318800e-01 -1.02395203e-02  9.81668939e-01  2.33889463e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.524860623999999 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:13.86, Y:-0.06, Z:2.35
[[ 9.80731194e-01 -4.29779134e-02 -1.90576034e-01  1.38623757e+01]
 [ 4.42884454e-02  9.99015348e-01  2.62081695e-03 -5.85078281e-02]
 [ 1.90275745e-01 -1.10106332e-02  9.81668939e-01  2.35001409e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.584860624 meters
Centerline goodness : 0.998369 with order 1
Centerline is valid?  [True, True]
Translation: X:13.92, Y:-0.06, Z:2.36
[[ 9.80512824e-01 -4.77004140e-02 -1.90576160e-01  1.39213292e+01]
 [ 4.90971992e-02  9.98790591e-01  2.61160024e-03 -5.56191386e-02]
 [ 1.90221101e-01 -1.19174632e-02  9.81668940e-01  2.36305116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.644860623999998 meters
Centerline goodness : 0.998316 with order 1
Centerline is valid?  [True, True]
Translation: X:13.98, Y:-0.05, Z:2.37
[[ 9.80378441e-01 -5.03867703e-02 -1.90576193e-01  1.39791354e+01]
 [ 5.18331695e-02  9.98652349e-01  2.60922109e-03 -5.30272465e-02]
 [ 1.90187892e-01 -1.24361922e-02  9.81668940e-01  2.37214182e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.704860623999998 meters
Centerline goodness : 0.998394 with order 1
Centerline is valid?  [True, True]
Translation: X:14.04, Y:-0.05, Z:2.38
[[ 9.80225654e-01 -5.32760136e-02 -1.90576320e-01  1.40382554e+01]
 [ 5.47744515e-02  9.98495368e-01  2.59984924e-03 -5.14678692e-02]
 [ 1.90151064e-01 -1.29871523e-02  9.81668940e-01  2.38231039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.764860623999999 meters
Centerline goodness : 0.998231 with order 1
Centerline is valid?  [True, True]
Translation: X:14.10, Y:-0.05, Z:2.39
[[ 9.80222435e-01 -5.33350536e-02 -1.90576362e-01  1.40977644e+01]
 [ 5.48339993e-02  9.98492108e-01  2.59678668e-03 -5.07166389e-02]
 [ 1.90150494e-01 -1.29954927e-02  9.81668940e-01  2.38945307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.824860624 meters
Centerline goodness : 0.998031 with order 1
Centerline is valid?  [True, True]
Translation: X:14.16, Y:-0.04, Z:2.40
[[ 9.80325618e-01 -5.14034777e-02 -1.90576403e-01  1.41569836e+01]
 [ 5.28658328e-02  9.98598256e-01  2.59374750e-03 -4.48990398e-02]
 [ 1.90175936e-01 -1.26176974e-02  9.81668940e-01  2.40281161e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.884860623999998 meters
Centerline goodness : 0.998289 with order 1
Centerline is valid?  [True, True]
Translation: X:14.22, Y:-0.04, Z:2.42
[[ 9.80545328e-01 -4.70265031e-02 -1.90576410e-01  1.42159718e+01]
 [ 4.84071696e-02  9.98824319e-01  2.59323269e-03 -4.11627485e-02]
 [ 1.90230403e-01 -1.17680468e-02  9.81668940e-01  2.41927384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 14.944860623999999 meters
Centerline goodness : 0.998144 with order 1
Centerline is valid?  [True, True]
Translation: X:14.27, Y:-0.04, Z:2.43
[[ 9.80620497e-01 -4.54322383e-02 -1.90576367e-01  1.42740553e+01]
 [ 4.67837983e-02  9.98901664e-01  2.59640339e-03 -3.62965664e-02]
 [ 1.90249090e-01 -1.14619727e-02  9.81668940e-01  2.43038452e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.004860623999999 meters
Centerline goodness : 0.997904 with order 1
Centerline is valid?  [True, True]
Translation: X:14.33, Y:-0.03, Z:2.44
[[ 9.80548058e-01 -4.69693779e-02 -1.90576452e-01  1.43325766e+01]
 [ 4.83483866e-02  9.98827175e-01  2.59017073e-03 -3.45057530e-02]
 [ 1.90231280e-01 -1.17538509e-02  9.81668940e-01  2.44281364e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.064860623999998 meters
Centerline goodness : 0.997902 with order 1
Centerline is valid?  [True, True]
Translation: X:14.39, Y:-0.03, Z:2.45
[[ 9.80216011e-01 -5.34523622e-02 -1.90576538e-01  1.43918501e+01]
 [ 5.49509827e-02  9.98485710e-01  2.58380839e-03 -3.37649049e-02]
 [ 1.90149840e-01 -1.30050584e-02  9.81668940e-01  2.45321820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.124860623999998 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:14.45, Y:-0.03, Z:2.46
[[ 9.79890256e-01 -5.91239842e-02 -1.90576600e-01  1.44510602e+01]
 [ 6.07274254e-02  9.98151054e-01  2.57925274e-03 -3.48289770e-02]
 [ 1.90071738e-01 -1.41006109e-02  9.81668940e-01  2.46326213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.184860623999999 meters
Centerline goodness : 0.998184 with order 1
Centerline is valid?  [True, True]
Translation: X:14.51, Y:-0.04, Z:2.47
[[ 9.79477757e-01 -6.56040669e-02 -1.90576570e-01  1.45103883e+01]
 [ 6.73286845e-02  9.97727510e-01  2.58146436e-03 -3.67978958e-02]
 [ 1.89974132e-01 -1.53597567e-02  9.81668940e-01  2.46938746e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.244860624 meters
Centerline goodness : 0.998138 with order 1
Centerline is valid?  [True, True]
Translation: X:14.57, Y:-0.04, Z:2.48
[[ 9.78824611e-01 -7.47192885e-02 -1.90576516e-01  1.45693262e+01]
 [ 7.66144857e-02  9.97057439e-01  2.58542754e-03 -3.89218128e-02]
 [ 1.89822552e-01 -1.71316019e-02  9.81668940e-01  2.48352380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.304860623999998 meters
Centerline goodness : 0.998357 with order 1
Centerline is valid?  [True, True]
Translation: X:14.63, Y:-0.04, Z:2.50
[[ 9.78442645e-01 -7.95650080e-02 -1.90576496e-01  1.46285240e+01]
 [ 8.15507525e-02  9.96665833e-01  2.58693475e-03 -4.00885017e-02]
 [ 1.89735252e-01 -1.80728239e-02  9.81668940e-01  2.49663516e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.364860623999999 meters
Centerline goodness : 0.998304 with order 1
Centerline is valid?  [True, True]
Translation: X:14.69, Y:-0.04, Z:2.51
[[ 9.78168814e-01 -8.28636334e-02 -1.90576467e-01  1.46874430e+01]
 [ 8.49112254e-02  9.96385157e-01  2.58908282e-03 -4.12798622e-02]
 [ 1.89673022e-01 -1.87146414e-02  9.81668940e-01  2.50891179e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.424860623999999 meters
Centerline goodness : 0.998223 with order 1
Centerline is valid?  [True, True]
Translation: X:14.75, Y:-0.04, Z:2.52
[[ 9.78112570e-01 -8.35249823e-02 -1.90576436e-01  1.47486881e+01]
 [ 8.55853225e-02  9.96327475e-01  2.59132266e-03 -4.28235059e-02]
 [ 1.89660099e-01 -1.88451510e-02  9.81668940e-01  2.52074567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.484860623999998 meters
Centerline goodness : 0.998202 with order 1
Centerline is valid?  [True, True]
Translation: X:14.81, Y:-0.05, Z:2.53
[[ 9.78021890e-01 -8.45805652e-02 -1.90576259e-01  1.48095941e+01]
 [ 8.66630567e-02  9.96234276e-01  2.60425094e-03 -4.52821938e-02]
 [ 1.89638333e-01 -1.90629356e-02  9.81668940e-01  2.53250634e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.544860623999998 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:14.87, Y:-0.05, Z:2.54
[[ 9.77830740e-01 -8.67629004e-02 -1.90576080e-01  1.48695191e+01]
 [ 8.88885523e-02  9.96038139e-01  2.61733275e-03 -4.87070381e-02]
 [ 1.89593957e-01 -1.94993403e-02  9.81668940e-01  2.54404037e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.604860623999999 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:14.93, Y:-0.05, Z:2.56
[[ 9.77616782e-01 -8.91415375e-02 -1.90576006e-01  1.49290994e+01]
 [ 9.13125064e-02  9.95818833e-01  2.62266381e-03 -5.08372298e-02]
 [ 1.89545388e-01 -1.99659330e-02  9.81668940e-01  2.55595391e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.664860624 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:14.99, Y:-0.06, Z:2.57
[[ 9.77228897e-01 -9.32978343e-02 -1.90575962e-01  1.49887259e+01]
 [ 9.55468090e-02  9.95421474e-01  2.62590844e-03 -5.51616259e-02]
 [ 1.89458413e-01 -2.07750386e-02  9.81668940e-01  2.56818820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.724860623999998 meters
Centerline goodness : 0.998877 with order 1
Centerline is valid?  [True, True]
Translation: X:15.05, Y:-0.06, Z:2.58
[[ 9.76822049e-01 -9.74654572e-02 -1.90575891e-01  1.50469780e+01]
 [ 9.97930069e-02  9.95004740e-01  2.63106448e-03 -6.08057160e-02]
 [ 1.89367477e-01 -2.15882230e-02  9.81668940e-01  2.57853483e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.784860623999998 meters
Centerline goodness : 0.998856 with order 1
Centerline is valid?  [True, True]
Translation: X:15.11, Y:-0.06, Z:2.59
[[ 9.76698901e-01 -9.86921572e-02 -1.90575747e-01  1.51073300e+01]
 [ 1.01044529e-01  9.94878398e-01  2.64139001e-03 -6.45834976e-02]
 [ 1.89339010e-01 -2.18364793e-02  9.81668940e-01  2.58922566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.844860623999999 meters
Centerline goodness : 0.999092 with order 1
Centerline is valid?  [True, True]
Translation: X:15.17, Y:-0.07, Z:2.60
[[ 9.76713770e-01 -9.85450560e-02 -1.90575661e-01  1.51667772e+01]
 [ 1.00895887e-01  9.94893467e-01  2.64760720e-03 -6.81762437e-02]
 [ 1.89341572e-01 -2.18142547e-02  9.81668940e-01  2.60331907e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.904860623999998 meters
Centerline goodness : 0.999018 with order 1
Centerline is valid?  [True, True]
Translation: X:15.23, Y:-0.07, Z:2.61
[[ 9.76807597e-01 -9.76107272e-02 -1.90575615e-01  1.52266761e+01]
 [ 9.99448017e-02  9.94989452e-01  2.65090363e-03 -7.40747648e-02]
 [ 1.89361970e-01 -2.16364649e-02  9.81668940e-01  2.61375357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 15.964860623999998 meters
Centerline goodness : 0.999073 with order 1
Centerline is valid?  [True, True]
Translation: X:15.29, Y:-0.08, Z:2.62
[[ 9.76840833e-01 -9.72776522e-02 -1.90575563e-01  1.52868892e+01]
 [ 9.96062524e-02  9.95023390e-01  2.65467052e-03 -7.76713242e-02]
 [ 1.89368902e-01 -2.15757082e-02  9.81668940e-01  2.62243211e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.024860623999995 meters
Centerline goodness : 0.999308 with order 1
Centerline is valid?  [True, True]
Translation: X:15.35, Y:-0.08, Z:2.63
[[ 9.76942935e-01 -9.62470343e-02 -1.90575473e-01  1.53467547e+01]
 [ 9.85576921e-02  9.95127781e-01  2.66111582e-03 -8.17968752e-02]
 [ 1.89390823e-01 -2.13824371e-02  9.81668940e-01  2.63369169e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.084860623999997 meters
Centerline goodness : 0.999335 with order 1
Centerline is valid?  [True, True]
Translation: X:15.41, Y:-0.09, Z:2.65
[[ 9.77085739e-01 -9.47864917e-02 -1.90575391e-01  1.54061307e+01]
 [ 9.70710863e-02  9.95273878e-01  2.66694935e-03 -8.76137529e-02]
 [ 1.89421918e-01 -2.11051984e-02  9.81668940e-01  2.64945309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.144860623999996 meters
Centerline goodness : 0.999312 with order 1
Centerline is valid?  [True, True]
Translation: X:15.47, Y:-0.09, Z:2.66
[[ 9.77535217e-01 -9.00330704e-02 -1.90575301e-01  1.54653190e+01]
 [ 9.22304114e-02  9.95734103e-01  2.67336144e-03 -9.21047227e-02]
 [ 1.89521636e-01 -2.01901434e-02  9.81668940e-01  2.66166610e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.204860624 meters
Centerline goodness : 0.999387 with order 1
Centerline is valid?  [True, True]
Translation: X:15.52, Y:-0.10, Z:2.67
[[ 9.77870416e-01 -8.63163254e-02 -1.90575293e-01  1.55245691e+01]
 [ 8.84445763e-02  9.96077511e-01  2.67392527e-03 -9.50537782e-02]
 [ 1.89596960e-01 -1.94701035e-02  9.81668940e-01  2.67291972e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.264860623999997 meters
Centerline goodness : 0.999314 with order 1
Centerline is valid?  [True, True]
Translation: X:15.58, Y:-0.10, Z:2.68
[[ 9.78257669e-01 -8.18106914e-02 -1.90575297e-01  1.55835489e+01]
 [ 8.38549893e-02  9.96474381e-01  2.67363253e-03 -1.02049280e-01]
 [ 1.89684670e-01 -1.85961911e-02  9.81668940e-01  2.68114188e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.324860623999996 meters
Centerline goodness : 0.999289 with order 1
Centerline is valid?  [True, True]
Translation: X:15.64, Y:-0.10, Z:2.69
[[ 9.78350247e-01 -8.06960348e-02 -1.90575300e-01  1.56442785e+01]
 [ 8.27195447e-02  9.96569280e-01  2.67347171e-03 -1.04967458e-01]
 [ 1.89705751e-01 -1.83798937e-02  9.81668940e-01  2.69434375e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.384860623999998 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:15.70, Y:-0.11, Z:2.71
[[ 9.78600549e-01 -7.76021157e-02 -1.90575120e-01  1.57030222e+01]
 [ 7.95704626e-02  9.96825625e-01  2.68618962e-03 -1.09980881e-01]
 [ 1.89761709e-01 -1.77928571e-02  9.81668940e-01  2.70804815e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.444860623999997 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:15.76, Y:-0.11, Z:2.72
[[ 9.78964404e-01 -7.28684947e-02 -1.90575123e-01  1.57626008e+01]
 [ 7.47486472e-02  9.97198789e-01  2.68602891e-03 -1.14794024e-01]
 [ 1.89845555e-01 -1.68747593e-02  9.81668940e-01  2.72093708e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.504860623999996 meters
Centerline goodness : 0.999220 with order 1
Centerline is valid?  [True, True]
Translation: X:15.82, Y:-0.12, Z:2.73
[[ 9.79111874e-01 -7.08595759e-02 -1.90575075e-01  1.58223961e+01]
 [ 7.27029585e-02  9.97350012e-01  2.68939167e-03 -1.18298510e-01]
 [ 1.89879484e-01 -1.64885871e-02  9.81668940e-01  2.73099660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.564860623999998 meters
Centerline goodness : 0.999401 with order 1
Centerline is valid?  [True, True]
Translation: X:15.88, Y:-0.12, Z:2.75
[[ 9.79161687e-01 -7.01681176e-02 -1.90574986e-01  1.58825352e+01]
 [ 7.19998344e-02  9.97401001e-01  2.69567688e-03 -1.23318688e-01]
 [ 1.89890532e-01 -1.63608710e-02  9.81668940e-01  2.74616106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.624860623999997 meters
Centerline goodness : 0.999528 with order 1
Centerline is valid?  [True, True]
Translation: X:15.94, Y:-0.13, Z:2.76
[[ 9.78940066e-01 -7.31954457e-02 -1.90574851e-01  1.59433904e+01]
 [ 7.50853877e-02  9.97173439e-01  2.70518449e-03 -1.28779659e-01]
 [ 1.89838173e-01 -1.69576001e-02  9.81668940e-01  2.75528957e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.684860623999995 meters
Centerline goodness : 0.999307 with order 1
Centerline is valid?  [True, True]
Translation: X:16.00, Y:-0.13, Z:2.77
[[ 9.78620357e-01 -7.73532241e-02 -1.90574596e-01  1.60032027e+01]
 [ 7.93240564e-02  9.96845163e-01  2.72307559e-03 -1.31987763e-01]
 [ 1.89762725e-01 -1.77820072e-02  9.81668940e-01  2.76558652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.744860623999998 meters
Centerline goodness : 0.999411 with order 1
Centerline is valid?  [True, True]
Translation: X:16.06, Y:-0.14, Z:2.78
[[ 9.78238649e-01 -8.20394323e-02 -1.90574595e-01  1.60619300e+01]
 [ 8.40975410e-02  9.96453806e-01  2.72313524e-03 -1.37398665e-01]
 [ 1.89675376e-01 -1.86907310e-02  9.81668940e-01  2.77506446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.804860623999996 meters
Centerline goodness : 0.999412 with order 1
Centerline is valid?  [True, True]
Translation: X:16.12, Y:-0.14, Z:2.79
[[ 9.77949841e-01 -8.54136899e-02 -1.90574420e-01  1.61214273e+01]
 [ 8.75369781e-02  9.96157515e-01  2.73533436e-03 -1.40174870e-01]
 [ 1.89608506e-01 -1.93573286e-02  9.81668940e-01  2.78783416e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.864860623999995 meters
Centerline goodness : 0.999489 with order 1
Centerline is valid?  [True, True]
Translation: X:16.18, Y:-0.14, Z:2.80
[[ 9.77810007e-01 -8.69999032e-02 -1.90574411e-01  1.61813782e+01]
 [ 8.91528401e-02  9.96014200e-01  2.73594069e-03 -1.43187791e-01]
 [ 1.89576793e-01 -1.96654802e-02  9.81668940e-01  2.79918271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.924860623999997 meters
Centerline goodness : 0.999173 with order 1
Centerline is valid?  [True, True]
Translation: X:16.24, Y:-0.15, Z:2.81
[[ 9.77694097e-01 -8.82930598e-02 -1.90574364e-01  1.62413891e+01]
 [ 9.04707008e-02  9.95895350e-01  2.73920583e-03 -1.46440363e-01]
 [ 1.89550270e-01 -1.99195017e-02  9.81668940e-01  2.81170687e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 16.984860623999996 meters
Centerline goodness : 0.999077 with order 1
Centerline is valid?  [True, True]
Translation: X:16.30, Y:-0.15, Z:2.82
[[ 9.77751123e-01 -8.76596098e-02 -1.90574224e-01  1.63018891e+01]
 [ 8.98273282e-02  9.95953560e-01  2.74890540e-03 -1.48767831e-01]
 [ 1.89562109e-01 -1.98065187e-02  9.81668940e-01  2.82407645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.044860624 meters
Centerline goodness : 0.999102 with order 1
Centerline is valid?  [True, True]
Translation: X:16.36, Y:-0.15, Z:2.83
[[ 9.77841931e-01 -8.66411731e-02 -1.90574039e-01  1.63631383e+01]
 [ 8.87924001e-02  9.96046326e-01  2.76170825e-03 -1.50735480e-01]
 [ 1.89581293e-01 -1.96220404e-02  9.81668940e-01  2.83472949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.104860623999997 meters
Centerline goodness : 0.999006 with order 1
Centerline is valid?  [True, True]
Translation: X:16.42, Y:-0.15, Z:2.85
[[ 9.78122210e-01 -8.34179237e-02 -1.90573851e-01  1.64231746e+01]
 [ 8.55116283e-02  9.96333309e-01  2.77460356e-03 -1.52020695e-01]
 [ 1.89643624e-01 -1.90101817e-02  9.81668941e-01  2.84606065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.164860623999996 meters
Centerline goodness : 0.999177 with order 1
Centerline is valid?  [True, True]
Translation: X:16.48, Y:-0.15, Z:2.86
[[ 9.78369258e-01 -8.04686703e-02 -1.90573840e-01  1.64832530e+01]
 [ 8.25076078e-02  9.96586570e-01  2.77535892e-03 -1.52129928e-01]
 [ 1.89700000e-01 -1.84391175e-02  9.81668941e-01  2.85729826e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.224860623999998 meters
Centerline goodness : 0.999269 with order 1
Centerline is valid?  [True, True]
Translation: X:16.54, Y:-0.15, Z:2.87
[[ 9.78846755e-01 -7.44355981e-02 -1.90573796e-01  1.65427415e+01]
 [ 7.63627761e-02  9.97076229e-01  2.77839950e-03 -1.52642452e-01]
 [ 1.89809790e-01 -1.72723714e-02  9.81668941e-01  2.86715254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.284860623999997 meters
Centerline goodness : 0.999341 with order 1
Centerline is valid?  [True, True]
Translation: X:16.60, Y:-0.15, Z:2.88
[[ 9.79297892e-01 -6.82441651e-02 -1.90573801e-01  1.66025752e+01]
 [ 7.00559575e-02  9.97539195e-01  2.77804172e-03 -1.51423816e-01]
 [ 1.89915251e-01 -1.60713605e-02  9.81668941e-01  2.87665674e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.344860623999995 meters
Centerline goodness : 0.999386 with order 1
Centerline is valid?  [True, True]
Translation: X:16.66, Y:-0.15, Z:2.89
[[ 9.79555734e-01 -6.44374832e-02 -1.90573806e-01  1.66603776e+01]
 [ 6.61782987e-02  9.97803947e-01  2.77769991e-03 -1.49713132e-01]
 [ 1.89976308e-01 -1.53327621e-02  9.81668941e-01  2.88958203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.404860623999998 meters
Centerline goodness : 0.999164 with order 1
Centerline is valid?  [True, True]
Translation: X:16.72, Y:-0.15, Z:2.90
[[ 9.79844806e-01 -5.98812765e-02 -1.90573840e-01  1.67185507e+01]
 [ 6.15367540e-02  9.98100959e-01  2.77535091e-03 -1.49299326e-01]
 [ 1.90045741e-01 -1.44467087e-02  9.81668941e-01  2.90136329e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.464860623999996 meters
Centerline goodness : 0.999328 with order 1
Centerline is valid?  [True, True]
Translation: X:16.78, Y:-0.15, Z:2.91
[[ 9.80029056e-01 -5.67859314e-02 -1.90573888e-01  1.67770404e+01]
 [ 5.83830969e-02  9.98290403e-01  2.77205347e-03 -1.49394784e-01]
 [ 1.90090670e-01 -1.38429867e-02  9.81668941e-01  2.91322924e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.524860623999995 meters
Centerline goodness : 0.999233 with order 1
Centerline is valid?  [True, True]
Translation: X:16.84, Y:-0.15, Z:2.92
[[ 9.79918217e-01 -5.86673794e-02 -1.90573938e-01  1.68357761e+01]
 [ 6.02989410e-02  9.98176524e-01  2.76863657e-03 -1.47430438e-01]
 [ 1.90064002e-01 -1.42044440e-02  9.81668941e-01  2.92488207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.584860623999997 meters
Centerline goodness : 0.999430 with order 1
Centerline is valid?  [True, True]
Translation: X:16.90, Y:-0.15, Z:2.93
[[ 9.80011916e-01 -5.70805321e-02 -1.90574021e-01  1.68964605e+01]
 [ 5.86814213e-02  9.98272937e-01  2.76292501e-03 -1.46654309e-01]
 [ 1.90087178e-01 -1.38908538e-02  9.81668941e-01  2.93169644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.644860623999996 meters
Centerline goodness : 0.999177 with order 1
Centerline is valid?  [True, True]
Translation: X:16.96, Y:-0.14, Z:2.94
[[ 9.80125488e-01 -5.50961710e-02 -1.90573976e-01  1.69553677e+01]
 [ 5.66606739e-02  9.98389662e-01  2.76597646e-03 -1.43510197e-01]
 [ 1.90114693e-01 -1.35090540e-02  9.81668941e-01  2.94339886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.704860623999995 meters
Centerline goodness : 0.998927 with order 1
Centerline is valid?  [True, True]
Translation: X:17.01, Y:-0.14, Z:2.96
[[ 9.80131202e-01 -5.49944182e-02 -1.90573976e-01  1.70138146e+01]
 [ 5.65570250e-02  9.98395539e-01  2.76597646e-03 -1.43013127e-01]
 [ 1.90116094e-01 -1.34893170e-02  9.81668941e-01  2.95602732e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.764860623999997 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:17.07, Y:-0.14, Z:2.97
[[ 9.80193512e-01 -5.38721256e-02 -1.90574064e-01  1.70727743e+01]
 [ 5.54126417e-02  9.98459725e-01  2.75989362e-03 -1.43498847e-01]
 [ 1.90131847e-01 -1.32654422e-02  9.81668941e-01  2.96780598e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.824860623999996 meters
Centerline goodness : 0.999500 with order 1
Centerline is valid?  [True, True]
Translation: X:17.13, Y:-0.14, Z:2.98
[[ 9.80162885e-01 -5.44265044e-02 -1.90574064e-01  1.71317741e+01]
 [ 5.59773515e-02  9.98428224e-01  2.75989362e-03 -1.42434671e-01]
 [ 1.90124313e-01 -1.33729767e-02  9.81668941e-01  2.97915485e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.884860623999998 meters
Centerline goodness : 0.999300 with order 1
Centerline is valid?  [True, True]
Translation: X:17.19, Y:-0.14, Z:2.99
[[ 9.80068196e-01 -5.61056221e-02 -1.90574109e-01  1.71910952e+01]
 [ 5.76871616e-02  9.98330903e-01  2.75680718e-03 -1.39713463e-01]
 [ 1.90101350e-01 -1.36955385e-02  9.81668941e-01  2.98757284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 17.944860623999997 meters
Centerline goodness : 0.999196 with order 1
Centerline is valid?  [True, True]
Translation: X:17.25, Y:-0.14, Z:3.00
[[ 9.79951114e-01 -5.81144485e-02 -1.90574197e-01  1.72499405e+01]
 [ 5.97322382e-02  9.98210646e-01  2.75069908e-03 -1.39986997e-01]
 [ 1.90073337e-01 -1.40789740e-02  9.81668941e-01  2.99632140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.004860623999996 meters
Centerline goodness : 0.999423 with order 1
Centerline is valid?  [True, True]
Translation: X:17.31, Y:-0.14, Z:3.01
[[ 9.79831310e-01 -6.01002923e-02 -1.90574286e-01  1.73092412e+01]
 [ 6.17538943e-02  9.98087633e-01  2.74454999e-03 -1.39893501e-01]
 [ 1.90044890e-01 -1.44579003e-02  9.81668941e-01  3.00850855e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.064860623999998 meters
Centerline goodness : 0.999221 with order 1
Centerline is valid?  [True, True]
Translation: X:17.37, Y:-0.14, Z:3.02
[[ 9.79632879e-01 -6.32523856e-02 -1.90574286e-01  1.73693796e+01]
 [ 6.49647150e-02  9.97883787e-01  2.74454999e-03 -1.36755940e-01]
 [ 1.89997391e-01 -1.50692556e-02  9.81668941e-01  3.01825291e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.124860623999997 meters
Centerline goodness : 0.999294 with order 1
Centerline is valid?  [True, True]
Translation: X:17.43, Y:-0.14, Z:3.03
[[ 9.79640213e-01 -6.31386741e-02 -1.90574291e-01  1.74296756e+01]
 [ 6.48488186e-02  9.97891327e-01  2.74420642e-03 -1.36509870e-01]
 [ 1.89999166e-01 -1.50468526e-02  9.81668941e-01  3.02679288e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.184860623999995 meters
Centerline goodness : 0.999267 with order 1
Centerline is valid?  [True, True]
Translation: X:17.49, Y:-0.13, Z:3.04
[[ 9.79721700e-01 -6.18615228e-02 -1.90574246e-01  1.74886009e+01]
 [ 6.35484741e-02  9.97974971e-01  2.74731573e-03 -1.33812445e-01]
 [ 1.90018374e-01 -1.48023074e-02  9.81668941e-01  3.03952176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.244860623999998 meters
Centerline goodness : 0.999417 with order 1
Centerline is valid?  [True, True]
Translation: X:17.55, Y:-0.13, Z:3.05
[[ 9.79754892e-01 -6.13336167e-02 -1.90574235e-01  1.75482161e+01]
 [ 6.30108792e-02  9.98009057e-01  2.74807455e-03 -1.32397655e-01]
 [ 1.90026263e-01 -1.47006896e-02  9.81668941e-01  3.05262973e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.304860623999996 meters
Centerline goodness : 0.999214 with order 1
Centerline is valid?  [True, True]
Translation: X:17.61, Y:-0.13, Z:3.07
[[ 9.79575328e-01 -6.41379200e-02 -1.90574145e-01  1.76071401e+01]
 [ 6.58686248e-02  9.97824503e-01  2.75426430e-03 -1.29618709e-01]
 [ 1.89982899e-01 -1.52508662e-02  9.81668941e-01  3.06514147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.364860623999995 meters
Centerline goodness : 0.999338 with order 1
Centerline is valid?  [True, True]
Translation: X:17.67, Y:-0.13, Z:3.07
[[ 9.79300055e-01 -6.82121257e-02 -1.90574154e-01  1.76680011e+01]
 [ 7.00186173e-02  9.97541884e-01  2.75369623e-03 -1.28717455e-01]
 [ 1.89917865e-01 -1.60404336e-02  9.81668941e-01  3.07406180e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.424860623999997 meters
Centerline goodness : 0.999363 with order 1
Centerline is valid?  [True, True]
Translation: X:17.73, Y:-0.13, Z:3.08
[[ 9.79075913e-01 -7.13574230e-02 -1.90574068e-01  1.77267055e+01]
 [ 7.32236465e-02  9.97311728e-01  2.75962887e-03 -1.28902498e-01]
 [ 1.89864833e-01 -1.66564143e-02  9.81668941e-01  3.08403876e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.484860623999996 meters
Centerline goodness : 0.999567 with order 1
Centerline is valid?  [True, True]
Translation: X:17.79, Y:-0.13, Z:3.09
[[ 9.78739477e-01 -7.58324095e-02 -1.90574083e-01  1.77866879e+01]
 [ 7.77817719e-02  9.96966592e-01  2.75856951e-03 -1.29697876e-01]
 [ 1.89786805e-01 -1.75231107e-02  9.81668941e-01  3.09368676e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.544860623999995 meters
Centerline goodness : 0.999593 with order 1
Centerline is valid?  [True, True]
Translation: X:17.85, Y:-0.13, Z:3.11
[[ 9.78649019e-01 -7.69910436e-02 -1.90574073e-01  1.78470796e+01]
 [ 7.89621225e-02  9.96873798e-01  2.75929263e-03 -1.28388782e-01]
 [ 1.89765859e-01 -1.77485123e-02  9.81668941e-01  3.10840819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.604860623999997 meters
Centerline goodness : 0.999339 with order 1
Centerline is valid?  [True, True]
Translation: X:17.91, Y:-0.13, Z:3.12
[[ 9.78621166e-01 -7.73447285e-02 -1.90573885e-01  1.79073966e+01]
 [ 7.93248840e-02  9.96844962e-01  2.77219297e-03 -1.27552442e-01]
 [ 1.89758203e-01 -1.78301780e-02  9.81668941e-01  3.12132044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.664860623999996 meters
Centerline goodness : 0.999465 with order 1
Centerline is valid?  [True, True]
Translation: X:17.97, Y:-0.13, Z:3.13
[[ 9.78508448e-01 -7.87582705e-02 -1.90573746e-01  1.79670502e+01]
 [ 8.07665900e-02  9.96729161e-01  2.78173565e-03 -1.28451155e-01]
 [ 1.89731325e-01 -1.81139434e-02  9.81668941e-01  3.13106075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.724860623999998 meters
Centerline goodness : 0.999592 with order 1
Centerline is valid?  [True, True]
Translation: X:18.03, Y:-0.13, Z:3.14
[[ 9.78327469e-01 -8.09754809e-02 -1.90573700e-01  1.80267629e+01]
 [ 8.30256900e-02  9.96543516e-01  2.78486824e-03 -1.28347899e-01]
 [ 1.89689479e-01 -1.85470260e-02  9.81668941e-01  3.14139946e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.784860623999997 meters
Centerline goodness : 0.999233 with order 1
Centerline is valid?  [True, True]
Translation: X:18.09, Y:-0.13, Z:3.15
[[ 9.78278511e-01 -8.15650498e-02 -1.90573600e-01  1.80861253e+01]
 [ 8.36275510e-02  9.96493171e-01  2.79168241e-03 -1.26354558e-01]
 [ 1.89677587e-01 -1.86682464e-02  9.81668941e-01  3.15208357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.844860623999995 meters
Centerline goodness : 0.999127 with order 1
Centerline is valid?  [True, True]
Translation: X:18.15, Y:-0.13, Z:3.16
[[ 9.78285102e-01 -8.14866060e-02 -1.90573327e-01  1.81457106e+01]
 [ 8.35512153e-02  9.96499522e-01  2.81017901e-03 -1.25759784e-01]
 [ 1.89677238e-01 -1.86717894e-02  9.81668941e-01  3.16495589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.904860623999998 meters
Centerline goodness : 0.999435 with order 1
Centerline is valid?  [True, True]
Translation: X:18.20, Y:-0.13, Z:3.18
[[ 9.78325687e-01 -8.09981679e-02 -1.90573207e-01  1.82045117e+01]
 [ 8.30552592e-02  9.96540958e-01  2.81834832e-03 -1.26396766e-01]
 [ 1.89685725e-01 -1.85853696e-02  9.81668941e-01  3.17646625e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 18.964860623999996 meters
Centerline goodness : 0.999203 with order 1
Centerline is valid?  [True, True]
Translation: X:18.27, Y:-0.12, Z:3.19
[[ 9.78404301e-01 -8.00429645e-02 -1.90573207e-01  1.82655962e+01]
 [ 8.20822707e-02  9.96621572e-01  2.81834832e-03 -1.24759802e-01]
 [ 1.89703780e-01 -1.84001657e-02  9.81668941e-01  3.18720876e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.024860623999995 meters
Centerline goodness : 0.999381 with order 1
Centerline is valid?  [True, True]
Translation: X:18.33, Y:-0.12, Z:3.20
[[ 9.78643317e-01 -7.70659769e-02 -1.90573067e-01  1.83262260e+01]
 [ 7.90516696e-02  9.96866509e-01  2.82776998e-03 -1.24564662e-01]
 [ 1.89757983e-01 -1.78324973e-02  9.81668941e-01  3.19671957e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.084860623999997 meters
Centerline goodness : 0.999405 with order 1
Centerline is valid?  [True, True]
Translation: X:18.39, Y:-0.12, Z:3.21
[[ 9.78810831e-01 -7.49086076e-02 -1.90572974e-01  1.83855575e+01]
 [ 7.68553350e-02  9.97038227e-01  2.83402717e-03 -1.23756616e-01]
 [ 1.89796247e-01 -1.74205262e-02  9.81668941e-01  3.20714057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.144860623999996 meters
Centerline goodness : 0.999068 with order 1
Centerline is valid?  [True, True]
Translation: X:18.44, Y:-0.12, Z:3.22
[[ 9.79254553e-01 -6.88655645e-02 -1.90572961e-01  1.84442521e+01]
 [ 7.06999082e-02  9.97493602e-01  2.83485658e-03 -1.21354857e-01]
 [ 1.89900086e-01 -1.62495371e-02  9.81668941e-01  3.21970548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.204860623999995 meters
Centerline goodness : 0.999194 with order 1
Centerline is valid?  [True, True]
Translation: X:18.50, Y:-0.12, Z:3.23
[[ 9.79707853e-01 -6.20843485e-02 -1.90572968e-01  1.85041463e+01]
 [ 6.37922848e-02  9.97959173e-01  2.83438543e-03 -1.20595491e-01]
 [ 1.90008071e-01 -1.49339547e-02  9.81668941e-01  3.23124584e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.264860623999997 meters
Centerline goodness : 0.999240 with order 1
Centerline is valid?  [True, True]
Translation: X:18.56, Y:-0.12, Z:3.24
[[ 9.80370867e-01 -5.05461245e-02 -1.90572960e-01  1.85642305e+01]
 [ 5.20391796e-02  9.98641020e-01  2.83493627e-03 -1.17635985e-01]
 [ 1.90170680e-01 -1.26965494e-02  9.81668941e-01  3.24220547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.324860623999996 meters
Centerline goodness : 0.998835 with order 1
Centerline is valid?  [True, True]
Translation: X:18.62, Y:-0.11, Z:3.26
[[ 9.80836173e-01 -4.05260973e-02 -1.90572919e-01  1.86232458e+01]
 [ 4.18329277e-02  9.99120590e-01  2.83770871e-03 -1.13531197e-01]
 [ 1.90290326e-01 -1.07555505e-02  9.81668941e-01  3.25524097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.384860623999995 meters
Centerline goodness : 0.999123 with order 1
Centerline is valid?  [True, True]
Translation: X:18.68, Y:-0.11, Z:3.27
[[ 9.81090655e-01 -3.38095396e-02 -1.90572928e-01  1.86823247e+01]
 [ 3.49910309e-02  9.99383599e-01  2.83709767e-03 -1.13494944e-01]
 [ 1.90359538e-01 -9.45179322e-03  9.81668941e-01  3.26674040e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.444860623999997 meters
Centerline goodness : 0.998908 with order 1
Centerline is valid?  [True, True]
Translation: X:18.74, Y:-0.11, Z:3.28
[[ 9.81159248e-01 -3.17566564e-02 -1.90572937e-01  1.87413695e+01]
 [ 3.28997574e-02  9.99454631e-01  2.83652028e-03 -1.13728794e-01]
 [ 1.90378926e-01 -9.05288150e-03  9.81668941e-01  3.27645601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.504860623999996 meters
Centerline goodness : 0.998934 with order 1
Centerline is valid?  [True, True]
Translation: X:18.80, Y:-0.11, Z:3.29
[[ 9.81232178e-01 -2.94165387e-02 -1.90573032e-01  1.87984142e+01]
 [ 3.05147639e-02  9.99530309e-01  2.83012853e-03 -1.14026567e-01]
 [ 1.90400269e-01 -8.59230425e-03  9.81668941e-01  3.28504849e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.564860623999998 meters
Centerline goodness : 0.998827 with order 1
Centerline is valid?  [True, True]
Translation: X:18.86, Y:-0.11, Z:3.30
[[ 9.81321349e-01 -2.62724521e-02 -1.90573264e-01  1.88569138e+01]
 [ 2.73089952e-02  9.99623078e-01  2.81440593e-03 -1.14585499e-01]
 [ 1.90427491e-01 -7.96620096e-03  9.81668941e-01  3.29694035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.624860623999997 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:18.91, Y:-0.12, Z:3.31
[[ 9.81359608e-01 -2.48018316e-02 -1.90573318e-01  1.89136037e+01]
 [ 2.58102298e-02  9.99662909e-01  2.81070765e-03 -1.16066005e-01]
 [ 1.90439367e-01 -7.67705610e-03  9.81668941e-01  3.30894380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.684860623999995 meters
Centerline goodness : 0.998961 with order 1
Centerline is valid?  [True, True]
Translation: X:18.97, Y:-0.12, Z:3.32
[[ 9.81424969e-01 -2.20625523e-02 -1.90573541e-01  1.89723596e+01]
 [ 2.30169151e-02  9.99731167e-01  2.79552973e-03 -1.19151077e-01]
 [ 1.90460632e-01 -7.13001770e-03  9.81668941e-01  3.32029800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.744860623999998 meters
Centerline goodness : 0.999123 with order 1
Centerline is valid?  [True, True]
Translation: X:19.03, Y:-0.12, Z:3.33
[[ 9.81506213e-01 -1.80902861e-02 -1.90573597e-01  1.90303951e+01]
 [ 1.89698129e-02  9.99816159e-01  2.79172369e-03 -1.21885277e-01]
 [ 1.90488058e-01 -6.35523962e-03  9.81668941e-01  3.33023566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.804860623999996 meters
Centerline goodness : 0.999045 with order 1
Centerline is valid?  [True, True]
Translation: X:19.09, Y:-0.12, Z:3.34
[[ 9.81552444e-01 -1.53712985e-02 -1.90574191e-01  1.90882688e+01]
 [ 1.61921220e-02  9.99865116e-01  2.75059129e-03 -1.24093158e-01]
 [ 1.90506205e-01 -5.78565015e-03  9.81668942e-01  3.34169740e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.864860623999995 meters
Centerline goodness : 0.998699 with order 1
Centerline is valid?  [True, True]
Translation: X:19.15, Y:-0.13, Z:3.35
[[ 9.81608264e-01 -1.12459658e-02 -1.90574776e-01  1.91478040e+01]
 [ 1.19818339e-02  9.99924544e-01  2.70943511e-03 -1.27522356e-01]
 [ 1.90529926e-01 -4.94303921e-03  9.81668943e-01  3.35325011e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.924860623999997 meters
Centerline goodness : 0.999103 with order 1
Centerline is valid?  [True, True]
Translation: X:19.20, Y:-0.13, Z:3.36
[[ 9.81636021e-01 -8.48362213e-03 -1.90574791e-01  1.92049671e+01]
 [ 9.16773962e-03  9.99954308e-01  2.70837996e-03 -1.32376981e-01]
 [ 1.90543106e-01 -4.40578339e-03  9.81668943e-01  3.36276151e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 19.984860623999996 meters
Centerline goodness : 0.999183 with order 1
Centerline is valid?  [True, True]
Translation: X:19.26, Y:-0.14, Z:3.38
[[ 9.81647173e-01 -7.07105079e-03 -1.90574994e-01  1.92623355e+01]
 [ 7.72601910e-03  9.99966525e-01  2.69400884e-03 -1.36756967e-01]
 [ 1.90549565e-01 -4.11695221e-03  9.81668943e-01  3.37506446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.044860623999995 meters
Centerline goodness : 0.999104 with order 1
Centerline is valid?  [True, True]
Translation: X:19.32, Y:-0.14, Z:3.38
[[ 9.81659145e-01 -5.12541149e-03 -1.90575586e-01  1.93200299e+01]
 [ 5.73581029e-03  9.99980035e-01  2.65144907e-03 -1.40322641e-01]
 [ 1.90558192e-01 -3.69592464e-03  9.81668944e-01  3.38493010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.104860623999997 meters
Centerline goodness : 0.999054 with order 1
Centerline is valid?  [True, True]
Translation: X:19.38, Y:-0.14, Z:3.40
[[ 9.81657836e-01 -5.34964332e-03 -1.90576163e-01  1.93774878e+01]
 [ 5.95606212e-03  9.99978858e-01  2.60937584e-03 -1.41674155e-01]
 [ 1.90558174e-01 -3.69659770e-03  9.81668945e-01  3.39554960e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.164860623999996 meters
Centerline goodness : 0.999240 with order 1
Centerline is valid?  [True, True]
Translation: X:19.44, Y:-0.15, Z:3.41
[[ 9.81640854e-01 -7.85779168e-03 -1.90576729e-01  1.94368341e+01]
 [ 8.50286943e-03  9.99960554e-01  2.56737684e-03 -1.46106342e-01]
 [ 1.90549037e-01 -4.14069103e-03  9.81668946e-01  3.40618660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.224860623999994 meters
Centerline goodness : 0.999113 with order 1
Centerline is valid?  [True, True]
Translation: X:19.49, Y:-0.15, Z:3.42
[[ 9.81558133e-01 -1.49708433e-02 -1.90576769e-01  1.94946667e+01]
 [ 1.57480756e-02  9.99872703e-01  2.56439538e-03 -1.50309703e-01]
 [ 1.90514118e-01 -5.51832051e-03  9.81668946e-01  3.41662540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.284860623999997 meters
Centerline goodness : 0.998829 with order 1
Centerline is valid?  [True, True]
Translation: X:19.55, Y:-0.15, Z:3.43
[[ 9.81450586e-01 -2.08617889e-02 -1.90576845e-01  1.95532172e+01]
 [ 2.17478317e-02  9.99760214e-01  2.55873505e-03 -1.52478933e-01]
 [ 1.90477767e-01 -6.65590516e-03  9.81668946e-01  3.42884835e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.344860623999995 meters
Centerline goodness : 0.999014 with order 1
Centerline is valid?  [True, True]
Translation: X:19.61, Y:-0.16, Z:3.44
[[ 9.81235808e-01 -2.92698606e-02 -1.90576928e-01  1.96127541e+01]
 [ 3.03115427e-02  9.99537240e-01  2.55254091e-03 -1.56404253e-01]
 [ 1.90414024e-01 -8.28132523e-03  9.81668946e-01  3.43897016e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.404860623999998 meters
Centerline goodness : 0.998936 with order 1
Centerline is valid?  [True, True]
Translation: X:19.67, Y:-0.16, Z:3.45
[[ 9.81021099e-01 -3.57496099e-02 -1.90576934e-01  1.96717174e+01]
 [ 3.69120435e-02  9.99315260e-01  2.55205483e-03 -1.57239659e-01]
 [ 1.90355203e-01 -9.53820372e-03  9.81668946e-01  3.45259235e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.464860623999996 meters
Centerline goodness : 0.999014 with order 1
Centerline is valid?  [True, True]
Translation: X:19.73, Y:-0.16, Z:3.46
[[ 9.80826022e-01 -4.07520480e-02 -1.90576979e-01  1.97313592e+01]
 [ 4.20071118e-02  9.99114061e-01  2.54870324e-03 -1.57387567e-01]
 [ 1.90304274e-01 -1.05054229e-02  9.81668946e-01  3.46283602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.524860623999995 meters
Centerline goodness : 0.998962 with order 1
Centerline is valid?  [True, True]
Translation: X:19.79, Y:-0.16, Z:3.47
[[ 9.80722026e-01 -4.31823739e-02 -1.90576993e-01  1.97907201e+01]
 [ 4.44825531e-02  9.99006913e-01  2.54768165e-03 -1.57854233e-01]
 [ 1.90277718e-01 -1.09759187e-02  9.81668946e-01  3.47273028e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.584860623999997 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:19.85, Y:-0.16, Z:3.48
[[ 9.80577727e-01 -4.63436038e-02 -1.90576996e-01  1.98474953e+01]
 [ 4.77026693e-02  9.98858331e-01  2.54742326e-03 -1.56841053e-01]
 [ 1.90241363e-01 -1.15889779e-02  9.81668946e-01  3.48236577e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.644860623999996 meters
Centerline goodness : 0.998780 with order 1
Centerline is valid?  [True, True]
Translation: X:19.91, Y:-0.16, Z:3.49
[[ 9.80492696e-01 -4.81082332e-02 -1.90577203e-01  1.99072627e+01]
 [ 4.94971859e-02  9.98771054e-01  2.53187939e-03 -1.55457092e-01]
 [ 1.90221189e-01 -1.19155245e-02  9.81668946e-01  3.49240795e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.704860623999995 meters
Centerline goodness : 0.998826 with order 1
Centerline is valid?  [True, True]
Translation: X:19.96, Y:-0.15, Z:3.50
[[ 9.80389296e-01 -5.01712953e-02 -1.90577202e-01  1.99635501e+01]
 [ 5.15987209e-02  9.98664689e-01  2.53195307e-03 -1.51860738e-01]
 [ 1.90195690e-01 -1.23158395e-02  9.81668946e-01  3.50453558e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.764860623999997 meters
Centerline goodness : 0.998611 with order 1
Centerline is valid?  [True, True]
Translation: X:20.02, Y:-0.15, Z:3.52
[[ 9.80328469e-01 -5.13437344e-02 -1.90577843e-01  2.00201930e+01]
 [ 5.27834888e-02  9.98602894e-01  2.48273885e-03 -1.45907332e-01]
 [ 1.90184112e-01 -1.24932630e-02  9.81668947e-01  3.51931327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.824860623999996 meters
Centerline goodness : 0.998660 with order 1
Centerline is valid?  [True, True]
Translation: X:20.08, Y:-0.14, Z:3.53
[[ 9.80274470e-01 -5.23625242e-02 -1.90578410e-01  2.00783031e+01]
 [ 5.38127005e-02  9.98548070e-01  2.43846598e-03 -1.41918672e-01]
 [ 1.90174019e-01 -1.26459048e-02  9.81668948e-01  3.53121776e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.884860623999995 meters
Centerline goodness : 0.998918 with order 1
Centerline is valid?  [True, True]
Translation: X:20.14, Y:-0.14, Z:3.54
[[ 9.80155642e-01 -5.45411973e-02 -1.90578530e-01  2.01371008e+01]
 [ 5.60301622e-02  9.98426122e-01  2.42904324e-03 -1.36908863e-01]
 [ 1.90146099e-01 -1.30589864e-02  9.81668948e-01  3.54205647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 20.944860623999997 meters
Centerline goodness : 0.998811 with order 1
Centerline is valid?  [True, True]
Translation: X:20.20, Y:-0.13, Z:3.55
[[ 9.79972180e-01 -5.77437400e-02 -1.90578561e-01  2.01959810e+01]
 [ 5.92919308e-02  9.98237736e-01  2.42662328e-03 -1.30217525e-01]
 [ 1.90102589e-01 -1.36777941e-02  9.81668948e-01  3.55349079e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.004860623999996 meters
Centerline goodness : 0.998138 with order 1
Centerline is valid?  [True, True]
Translation: X:20.25, Y:-0.13, Z:3.56
[[ 9.79812366e-01 -6.03947383e-02 -1.90578601e-01  2.02547663e+01]
 [ 6.19917279e-02  9.98073721e-01  2.42346433e-03 -1.26032784e-01]
 [ 1.90065129e-01 -1.41888371e-02  9.81668948e-01  3.56425417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.064860623999994 meters
Centerline goodness : 0.998262 with order 1
Centerline is valid?  [True, True]
Translation: X:20.31, Y:-0.12, Z:3.58
[[ 9.79596619e-01 -6.37984711e-02 -1.90578645e-01  2.03143201e+01]
 [ 6.54582165e-02  9.97852377e-01  2.41995383e-03 -1.20238579e-01]
 [ 1.90014965e-01 -1.48455168e-02  9.81668948e-01  3.57561159e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.124860623999997 meters
Centerline goodness : 0.998153 with order 1
Centerline is valid?  [True, True]
Translation: X:20.37, Y:-0.11, Z:3.59
[[ 9.79534830e-01 -6.47402204e-02 -1.90578645e-01  2.03737377e+01]
 [ 6.64175160e-02  9.97788984e-01  2.41995383e-03 -1.14916278e-01]
 [ 1.90000605e-01 -1.50281893e-02  9.81668948e-01  3.58540327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.184860623999995 meters
Centerline goodness : 0.997897 with order 1
Centerline is valid?  [True, True]
Translation: X:20.43, Y:-0.11, Z:3.60
[[ 9.79582038e-01 -6.40220012e-02 -1.90578631e-01  2.04331328e+01]
 [ 6.56861296e-02  9.97837397e-01  2.42107732e-03 -1.07286352e-01]
 [ 1.90011483e-01 -1.48900165e-02  9.81668948e-01  3.59792659e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.244860623999998 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:20.49, Y:-0.10, Z:3.61
[[ 9.79672716e-01 -6.26192556e-02 -1.90578590e-01  2.04912130e+01]
 [ 6.42578614e-02  9.97930383e-01  2.42427954e-03 -1.03354980e-01]
 [ 1.90032359e-01 -1.46211732e-02  9.81668948e-01  3.61003663e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.304860623999996 meters
Centerline goodness : 0.997868 with order 1
Centerline is valid?  [True, True]
Translation: X:20.55, Y:-0.10, Z:3.62
[[ 9.79784220e-01 -6.08495533e-02 -1.90578629e-01  2.05513264e+01]
 [ 6.24545856e-02  9.98044870e-01  2.42122063e-03 -9.59203169e-02]
 [ 1.90058693e-01 -1.42747831e-02  9.81668948e-01  3.62223720e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.364860623999995 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:20.61, Y:-0.09, Z:3.63
[[ 9.79942957e-01 -5.82374407e-02 -1.90578598e-01  2.06109045e+01]
 [ 5.97942666e-02  9.98207780e-01  2.42369293e-03 -9.13635934e-02]
 [ 1.90095889e-01 -1.37705883e-02  9.81668948e-01  3.63211097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.424860623999997 meters
Centerline goodness : 0.998123 with order 1
Centerline is valid?  [True, True]
Translation: X:20.67, Y:-0.08, Z:3.64
[[ 9.80078879e-01 -5.59035252e-02 -1.90578557e-01  2.06699369e+01]
 [ 5.74174717e-02  9.98347306e-01  2.42691263e-03 -8.30961463e-02]
 [ 1.90127916e-01 -1.33211047e-02  9.81668948e-01  3.64164399e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.484860623999996 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:20.73, Y:-0.08, Z:3.65
[[ 9.80120925e-01 -5.51612947e-02 -1.90578604e-01  2.07275327e+01]
 [ 5.66606811e-02  9.98390553e-01  2.42316669e-03 -7.83005119e-02]
 [ 1.90138213e-01 -1.31733099e-02  9.81668948e-01  3.65205696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.544860623999995 meters
Centerline goodness : 0.998108 with order 1
Centerline is valid?  [True, True]
Translation: X:20.79, Y:-0.07, Z:3.67
[[ 9.80073892e-01 -5.59888635e-02 -1.90579153e-01  2.07851966e+01]
 [ 5.74951810e-02  9.98342949e-01  2.37926702e-03 -7.17208450e-02]
 [ 1.90130141e-01 -1.32892404e-02  9.81668949e-01  3.66589036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.604860623999997 meters
Centerline goodness : 0.998301 with order 1
Centerline is valid?  [True, True]
Translation: X:20.84, Y:-0.07, Z:3.68
[[ 9.79896756e-01 -5.90063045e-02 -1.90579651e-01  2.08435532e+01]
 [ 6.05610035e-02  9.98161758e-01  2.33862443e-03 -6.68576011e-02]
 [ 1.90091326e-01 -1.38333054e-02  9.81668950e-01  3.68161964e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.664860623999996 meters
Centerline goodness : 0.998267 with order 1
Centerline is valid?  [True, True]
Translation: X:20.90, Y:-0.06, Z:3.69
[[ 9.79588287e-01 -6.39230992e-02 -1.90579709e-01  2.09032158e+01]
 [ 6.55685384e-02  9.97845338e-01  2.33396112e-03 -6.42127117e-02]
 [ 1.90019880e-01 -1.47823539e-02  9.81668950e-01  3.69368048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.724860623999994 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:20.96, Y:-0.06, Z:3.70
[[ 9.79313696e-01 -6.80004761e-02 -1.90579697e-01  2.09623864e+01]
 [ 6.97220851e-02  9.97563722e-01  2.33490146e-03 -6.26282010e-02]
 [ 1.89956617e-01 -1.55742148e-02  9.81668950e-01  3.70317433e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.784860623999997 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:21.02, Y:-0.06, Z:3.71
[[ 9.78951179e-01 -7.30339819e-02 -1.90579712e-01  2.10224717e+01]
 [ 7.48491507e-02  9.97192137e-01  2.33367864e-03 -6.13761068e-02]
 [ 1.89874153e-01 -1.65492870e-02  9.81668950e-01  3.71384033e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.844860623999995 meters
Centerline goodness : 0.998150 with order 1
Centerline is valid?  [True, True]
Translation: X:21.08, Y:-0.06, Z:3.73
[[ 9.79110428e-01 -7.08672436e-02 -1.90579650e-01  2.10822682e+01]
 [ 7.26430158e-02  9.97355264e-01  2.33873802e-03 -5.87394622e-02]
 [ 1.89909877e-01 -1.61341633e-02  9.81668950e-01  3.72530826e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.904860623999994 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:21.14, Y:-0.06, Z:3.74
[[ 9.79500203e-01 -6.52592481e-02 -1.90579600e-01  2.11422402e+01]
 [ 6.69313061e-02  9.97754835e-01  2.34284020e-03 -5.82496537e-02]
 [ 1.89998825e-01 -1.50505540e-02  9.81668950e-01  3.73546758e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 21.964860623999996 meters
Centerline goodness : 0.998138 with order 1
Centerline is valid?  [True, True]
Translation: X:21.20, Y:-0.06, Z:3.75
[[ 9.79632473e-01 -6.32427591e-02 -1.90579564e-01  2.12030923e+01]
 [ 6.48777882e-02  9.97890460e-01  2.34569827e-03 -5.90567636e-02]
 [ 1.90029181e-01 -1.46623028e-02  9.81668950e-01  3.74734948e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.024860623999995 meters
Centerline goodness : 0.998421 with order 1
Centerline is valid?  [True, True]
Translation: X:21.26, Y:-0.06, Z:3.76
[[ 9.79671523e-01 -6.26353953e-02 -1.90579420e-01  2.12623770e+01]
 [ 6.42613683e-02  9.97930318e-01  2.35740318e-03 -5.98438877e-02]
 [ 1.90037324e-01 -1.45563750e-02  9.81668950e-01  3.75926861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.084860623999997 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:21.32, Y:-0.06, Z:3.77
[[ 9.79676756e-01 -6.25534856e-02 -1.90579420e-01  2.13206567e+01]
 [ 6.41779319e-02  9.97935687e-01  2.35740318e-03 -5.99423436e-02]
 [ 1.90038540e-01 -1.45404861e-02  9.81668950e-01  3.77329997e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.144860623999996 meters
Centerline goodness : 0.998028 with order 1
Centerline is valid?  [True, True]
Translation: X:21.38, Y:-0.06, Z:3.78
[[ 9.79546780e-01 -6.45572459e-02 -1.90579297e-01  2.13796757e+01]
 [ 6.62209484e-02  9.97802176e-01  2.36728887e-03 -6.12744316e-02]
 [ 1.90007611e-01 -1.49392120e-02  9.81668950e-01  3.78498711e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.204860623999995 meters
Centerline goodness : 0.998146 with order 1
Centerline is valid?  [True, True]
Translation: X:21.44, Y:-0.06, Z:3.79
[[ 9.79285145e-01 -6.84118095e-02 -1.90579194e-01  2.14391723e+01]
 [ 7.01489320e-02  9.97533701e-01  2.37550309e-03 -6.44775007e-02]
 [ 1.89946657e-01 -1.56952218e-02  9.81668950e-01  3.79482155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.264860623999997 meters
Centerline goodness : 0.998210 with order 1
Centerline is valid?  [True, True]
Translation: X:21.50, Y:-0.07, Z:3.81
[[ 9.79179190e-01 -6.99119949e-02 -1.90579188e-01  2.15005131e+01]
 [ 7.16771775e-02  9.97425053e-01  2.37604847e-03 -6.66488400e-02]
 [ 1.89922342e-01 -1.59867555e-02  9.81668950e-01  3.80751828e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.324860623999996 meters
Centerline goodness : 0.998186 with order 1
Centerline is valid?  [True, True]
Translation: X:21.56, Y:-0.07, Z:3.82
[[ 9.79032572e-01 -7.19364771e-02 -1.90579028e-01  2.15593481e+01]
 [ 7.37418502e-02  9.97274502e-01  2.38881949e-03 -7.20018481e-02]
 [ 1.89887762e-01 -1.63923822e-02  9.81668950e-01  3.81718102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.384860623999995 meters
Centerline goodness : 0.998136 with order 1
Centerline is valid?  [True, True]
Translation: X:21.62, Y:-0.08, Z:3.83
[[ 9.78858655e-01 -7.42659377e-02 -1.90578866e-01  2.16188506e+01]
 [ 7.61171916e-02  9.97095986e-01  2.40164793e-03 -7.61428367e-02]
 [ 1.89847062e-01 -1.68572019e-02  9.81668950e-01  3.82855431e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.444860623999997 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:21.68, Y:-0.08, Z:3.84
[[ 9.78596875e-01 -7.76393390e-02 -1.90578827e-01  2.16777875e+01]
 [ 7.95540374e-02  9.96827654e-01  2.40473841e-03 -8.20161069e-02]
 [ 1.89787543e-01 -1.75145846e-02  9.81668950e-01  3.84075545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.504860623999996 meters
Centerline goodness : 0.998074 with order 1
Centerline is valid?  [True, True]
Translation: X:21.74, Y:-0.09, Z:3.85
[[ 9.78421432e-01 -7.98198873e-02 -1.90578820e-01  2.17373111e+01]
 [ 8.17753090e-02  9.96647888e-01  2.40526630e-03 -8.90869163e-02]
 [ 1.89747991e-01 -1.79380060e-02  9.81668950e-01  3.85058507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.564860623999994 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:21.80, Y:-0.10, Z:3.86
[[ 9.78086818e-01 -8.38206710e-02 -1.90578779e-01  2.17969332e+01]
 [ 8.58512485e-02  9.96305055e-01  2.40853863e-03 -9.59845163e-02]
 [ 1.89672715e-01 -1.87171860e-02  9.81668950e-01  3.86201183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.624860623999997 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:21.86, Y:-0.10, Z:3.87
[[ 9.78082885e-01 -8.38666103e-02 -1.90578755e-01  2.18576842e+01]
 [ 8.58984037e-02  9.96300986e-01  2.41040518e-03 -1.01609171e-01]
 [ 1.89671649e-01 -1.87279869e-02  9.81668950e-01  3.87439484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.684860623999995 meters
Centerline goodness : 0.997885 with order 1
Centerline is valid?  [True, True]
Translation: X:21.92, Y:-0.11, Z:3.89
[[ 9.78217304e-01 -8.22842952e-02 -1.90578593e-01  2.19188849e+01]
 [ 8.42890770e-02  9.96438397e-01  2.42316014e-03 -1.05565931e-01]
 [ 1.89700440e-01 -1.84340709e-02  9.81668950e-01  3.88853688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.744860623999994 meters
Centerline goodness : 0.998052 with order 1
Centerline is valid?  [True, True]
Translation: X:21.98, Y:-0.11, Z:3.90
[[ 9.78399913e-01 -8.00842558e-02 -1.90578388e-01  2.19781720e+01]
 [ 8.20511574e-02  9.96625134e-01  2.43922281e-03 -1.11690622e-01]
 [ 1.89739868e-01 -1.80237127e-02  9.81668951e-01  3.90179658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.804860623999996 meters
Centerline goodness : 0.997871 with order 1
Centerline is valid?  [True, True]
Translation: X:22.04, Y:-0.12, Z:3.91
[[ 9.78522440e-01 -7.85730699e-02 -1.90578347e-01  2.20376474e+01]
 [ 8.05124329e-02  9.96750612e-01  2.44239067e-03 -1.16937263e-01]
 [ 1.89767178e-01 -1.77338604e-02  9.81668951e-01  3.91333931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.864860623999995 meters
Centerline goodness : 0.998305 with order 1
Centerline is valid?  [True, True]
Translation: X:22.10, Y:-0.12, Z:3.92
[[ 9.78559923e-01 -7.81049876e-02 -1.90578301e-01  2.20981703e+01]
 [ 8.00363261e-02  9.96788946e-01  2.44599086e-03 -1.21245628e-01]
 [ 1.89775300e-01 -1.76467357e-02  9.81668951e-01  3.92392180e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.924860623999997 meters
Centerline goodness : 0.998125 with order 1
Centerline is valid?  [True, True]
Translation: X:22.16, Y:-0.13, Z:3.94
[[ 9.78503273e-01 -7.88122152e-02 -1.90578012e-01  2.21578639e+01]
 [ 8.07610301e-02  9.96730437e-01  2.46827357e-03 -1.28251410e-01]
 [ 1.89760375e-01 -1.78064904e-02  9.81668951e-01  3.93603118e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 22.984860623999996 meters
Centerline goodness : 0.997761 with order 1
Centerline is valid?  [True, True]
Translation: X:22.22, Y:-0.13, Z:3.95
[[ 9.78491509e-01 -7.89581644e-02 -1.90578005e-01  2.22178033e+01]
 [ 8.09098089e-02  9.96718369e-01  2.46884767e-03 -1.31737932e-01]
 [ 1.89757662e-01 -1.78353764e-02  9.81668951e-01  3.94909478e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.044860623999995 meters
Centerline goodness : 0.998268 with order 1
Centerline is valid?  [True, True]
Translation: X:22.28, Y:-0.14, Z:3.96
[[ 9.78502752e-01 -7.88189177e-02 -1.90577918e-01  2.22782844e+01]
 [ 8.07692529e-02  9.96729753e-01  2.47550117e-03 -1.37590861e-01]
 [ 1.89759565e-01 -1.78151208e-02  9.81668951e-01  3.95833873e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.104860623999997 meters
Centerline goodness : 0.998332 with order 1
Centerline is valid?  [True, True]
Translation: X:22.34, Y:-0.14, Z:3.97
[[ 9.78269295e-01 -8.16657426e-02 -1.90577789e-01  2.23381185e+01]
 [ 8.36710175e-02  9.96490333e-01  2.48541142e-03 -1.43838702e-01]
 [ 1.89705952e-01 -1.83772392e-02  9.81668951e-01  3.96972326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.164860623999996 meters
Centerline goodness : 0.997995 with order 1
Centerline is valid?  [True, True]
Translation: X:22.40, Y:-0.15, Z:3.98
[[ 9.78040205e-01 -8.43652052e-02 -1.90577725e-01  2.23978591e+01]
 [ 8.64217026e-02  9.96255533e-01  2.49030786e-03 -1.49039112e-01]
 [ 1.89654018e-01 -1.89056727e-02  9.81668951e-01  3.98199253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.224860623999994 meters
Centerline goodness : 0.998552 with order 1
Centerline is valid?  [True, True]
Translation: X:22.46, Y:-0.15, Z:3.99
[[ 9.77900334e-01 -8.59713343e-02 -1.90577718e-01  2.24593525e+01]
 [ 8.80578494e-02  9.96112248e-01  2.49085350e-03 -1.53713855e-01]
 [ 1.89622657e-01 -1.92176705e-02  9.81668951e-01  3.99364967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.284860623999997 meters
Centerline goodness : 0.998743 with order 1
Centerline is valid?  [True, True]
Translation: X:22.52, Y:-0.16, Z:4.00
[[ 9.77904454e-01 -8.59248390e-02 -1.90577547e-01  2.25183090e+01]
 [ 8.80129955e-02  9.96116180e-01  2.50385178e-03 -1.58065885e-01]
 [ 1.89622235e-01 -1.92218286e-02  9.81668951e-01  4.00491680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.344860623999995 meters
Centerline goodness : 0.998071 with order 1
Centerline is valid?  [True, True]
Translation: X:22.58, Y:-0.16, Z:4.02
[[ 9.77958978e-01 -8.53020521e-02 -1.90577537e-01  2.25773616e+01]
 [ 8.73787559e-02  9.96172013e-01  2.50460738e-03 -1.61042472e-01]
 [ 1.89634361e-01 -1.91018314e-02  9.81668951e-01  4.01640155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.404860623999994 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:22.64, Y:-0.16, Z:4.03
[[ 9.77925853e-01 -8.56815215e-02 -1.90577289e-01  2.26376569e+01]
 [ 8.77689149e-02  9.96137666e-01  2.52338641e-03 -1.64257156e-01]
 [ 1.89625008e-01 -1.91944466e-02  9.81668951e-01  4.02921232e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.464860623999996 meters
Centerline goodness : 0.998068 with order 1
Centerline is valid?  [True, True]
Translation: X:22.70, Y:-0.17, Z:4.04
[[ 9.77942617e-01 -8.54901604e-02 -1.90577201e-01  2.26983728e+01]
 [ 8.75752647e-02  9.96154693e-01  2.52999353e-03 -1.67986420e-01]
 [ 1.89628084e-01 -1.91640373e-02  9.81668951e-01  4.04332205e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.524860623999995 meters
Centerline goodness : 0.998356 with order 1
Centerline is valid?  [True, True]
Translation: X:22.76, Y:-0.17, Z:4.05
[[ 9.77929772e-01 -8.56373671e-02 -1.90577025e-01  2.27586332e+01]
 [ 8.77277516e-02  9.96141242e-01  2.54315491e-03 -1.71813578e-01]
 [ 1.89623846e-01 -1.92059208e-02  9.81668951e-01  4.05213348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.584860623999994 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:22.82, Y:-0.17, Z:4.07
[[ 9.77980125e-01 -8.50606049e-02 -1.90576939e-01  2.28188899e+01]
 [ 8.71415002e-02  9.96192681e-01  2.54964324e-03 -1.73322154e-01]
 [ 1.89634477e-01 -1.91006607e-02  9.81668951e-01  4.06503222e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.644860623999996 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:22.88, Y:-0.18, Z:4.08
[[ 9.77842945e-01 -8.66236425e-02 -1.90576809e-01  2.28784910e+01]
 [ 8.87355120e-02  9.96051936e-01  2.55932307e-03 -1.77955086e-01]
 [ 1.89602701e-01 -1.94135467e-02  9.81668951e-01  4.07749688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.704860623999995 meters
Centerline goodness : 0.998499 with order 1
Centerline is valid?  [True, True]
Translation: X:22.94, Y:-0.18, Z:4.09
[[ 9.77576126e-01 -8.95846746e-02 -1.90576766e-01  2.29399421e+01]
 [ 9.17522974e-02  9.95778564e-01  2.56251999e-03 -1.82615825e-01]
 [ 1.89542696e-01 -1.99909144e-02  9.81668951e-01  4.08868858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.764860623999997 meters
Centerline goodness : 0.998610 with order 1
Centerline is valid?  [True, True]
Translation: X:23.00, Y:-0.19, Z:4.10
[[ 9.77557496e-01 -8.97881145e-02 -1.90576591e-01  2.29987347e+01]
 [ 9.19620227e-02  9.95759184e-01  2.57547331e-03 -1.85911679e-01]
 [ 1.89537144e-01 -2.00434820e-02  9.81668951e-01  4.09870801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.824860623999996 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:23.06, Y:-0.19, Z:4.11
[[ 9.77561501e-01 -8.97448604e-02 -1.90576420e-01  2.30593066e+01]
 [ 9.19203808e-02  9.95762997e-01  2.58801266e-03 -1.88983817e-01]
 [ 1.89536687e-01 -2.00477987e-02  9.81668951e-01  4.11016009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.884860623999995 meters
Centerline goodness : 0.999075 with order 1
Centerline is valid?  [True, True]
Translation: X:23.12, Y:-0.19, Z:4.12
[[ 9.77403597e-01 -9.14489392e-02 -1.90576233e-01  2.31187449e+01]
 [ 9.36588269e-02  9.95600952e-01  2.60170601e-03 -1.91238339e-01]
 [ 1.89499956e-01 -2.03920633e-02  9.81668952e-01  4.12459362e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 23.944860623999997 meters
Centerline goodness : 0.998873 with order 1
Centerline is valid?  [True, True]
Translation: X:23.18, Y:-0.19, Z:4.14
[[ 9.77186588e-01 -9.37394746e-02 -1.90576189e-01  2.31786421e+01]
 [ 9.59926317e-02  9.95378636e-01  2.60495193e-03 -1.93784141e-01]
 [ 1.89451280e-01 -2.08394340e-02  9.81668952e-01  4.13564019e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.004860623999996 meters
Centerline goodness : 0.998877 with order 1
Centerline is valid?  [True, True]
Translation: X:23.24, Y:-0.20, Z:4.15
[[ 9.76906514e-01 -9.66146527e-02 -1.90576158e-01  2.32381106e+01]
 [ 9.89217654e-02  9.95091798e-01  2.60719137e-03 -1.96798492e-01]
 [ 1.89388879e-01 -2.13991123e-02  9.81668952e-01  4.14524005e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.064860623999994 meters
Centerline goodness : 0.998904 with order 1
Centerline is valid?  [True, True]
Translation: X:23.30, Y:-0.20, Z:4.16
[[ 9.76738493e-01 -9.82987694e-02 -1.90576151e-01  2.32993400e+01]
 [ 1.00637342e-01  9.94919758e-01  2.60776301e-03 -1.99207482e-01]
 [ 1.89351638e-01 -2.17261797e-02  9.81668952e-01  4.15789755e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.124860623999997 meters
Centerline goodness : 0.999110 with order 1
Centerline is valid?  [True, True]
Translation: X:23.36, Y:-0.20, Z:4.17
[[ 9.76760881e-01 -9.80763938e-02 -1.90575975e-01  2.33593415e+01]
 [ 1.00413283e-01  9.94942363e-01  2.62051653e-03 -2.00827683e-01]
 [ 1.89355100e-01 -2.16959773e-02  9.81668952e-01  4.17088259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.184860623999995 meters
Centerline goodness : 0.999012 with order 1
Centerline is valid?  [True, True]
Translation: X:23.42, Y:-0.20, Z:4.18
[[ 9.76900119e-01 -9.66798216e-02 -1.90575887e-01  2.34188479e+01]
 [ 9.89919496e-02  9.95084767e-01  2.62693047e-03 -2.03563561e-01]
 [ 1.89385191e-01 -2.14317273e-02  9.81668952e-01  4.18430272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.244860623999994 meters
Centerline goodness : 0.999140 with order 1
Centerline is valid?  [True, True]
Translation: X:23.48, Y:-0.21, Z:4.20
[[ 9.76947913e-01 -9.61957583e-02 -1.90575842e-01  2.34787722e+01]
 [ 9.84994995e-02  9.95133625e-01  2.63016988e-03 -2.06080029e-01]
 [ 1.89395417e-01 -2.13411640e-02  9.81668952e-01  4.19627219e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.304860623999996 meters
Centerline goodness : 0.998808 with order 1
Centerline is valid?  [True, True]
Translation: X:23.54, Y:-0.21, Z:4.21
[[ 9.77125782e-01 -9.43720008e-02 -1.90575791e-01  2.35397601e+01]
 [ 9.66425023e-02  9.95315673e-01  2.63385531e-03 -2.07925040e-01]
 [ 1.89434510e-01 -2.09913293e-02  9.81668952e-01  4.20763145e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.364860623999995 meters
Centerline goodness : 0.998888 with order 1
Centerline is valid?  [True, True]
Translation: X:23.60, Y:-0.21, Z:4.22
[[ 9.77269837e-01 -9.28686380e-02 -1.90575659e-01  2.35988861e+01]
 [ 9.51129872e-02  9.95462974e-01  2.64337482e-03 -2.11007426e-01]
 [ 1.89465526e-01 -2.07095107e-02  9.81668952e-01  4.21950403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.424860623999994 meters
Centerline goodness : 0.998939 with order 1
Centerline is valid?  [True, True]
Translation: X:23.66, Y:-0.22, Z:4.23
[[ 9.77314096e-01 -9.24017060e-02 -1.90575659e-01  2.36585283e+01]
 [ 9.46373608e-02  9.95508304e-01  2.64336535e-03 -2.15101442e-01]
 [ 1.89475400e-01 -2.06189756e-02  9.81668952e-01  4.22851495e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.484860623999996 meters
Centerline goodness : 0.999017 with order 1
Centerline is valid?  [True, True]
Translation: X:23.72, Y:-0.22, Z:4.24
[[ 9.77490561e-01 -9.05159483e-02 -1.90575616e-01  2.37179191e+01]
 [ 9.27170971e-02  9.95688976e-01  2.64648496e-03 -2.17146854e-01]
 [ 1.89514491e-01 -2.02565320e-02  9.81668952e-01  4.24155764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.544860623999995 meters
Centerline goodness : 0.999245 with order 1
Centerline is valid?  [True, True]
Translation: X:23.78, Y:-0.22, Z:4.25
[[ 9.77807813e-01 -8.70219851e-02 -1.90575591e-01  2.37769138e+01]
 [ 8.91584293e-02  9.96013936e-01  2.64828639e-03 -2.19055515e-01]
 [ 1.89585485e-01 -1.95809355e-02  9.81668952e-01  4.25235935e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.604860623999997 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:23.84, Y:-0.22, Z:4.26
[[ 9.78270233e-01 -8.16596682e-02 -1.90575577e-01  2.38351250e+01]
 [ 8.36964511e-02  9.96487775e-01  2.64926741e-03 -2.20008133e-01]
 [ 1.89689895e-01 -1.85421989e-02  9.81668952e-01  4.26317361e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.664860623999996 meters
Centerline goodness : 0.999035 with order 1
Centerline is valid?  [True, True]
Translation: X:23.89, Y:-0.22, Z:4.28
[[ 9.78860493e-01 -7.42500326e-02 -1.90575624e-01  2.38941343e+01]
 [ 7.61481669e-02  9.97093003e-01  2.64590060e-03 -2.18791405e-01]
 [ 1.89825163e-01 -1.71019520e-02  9.81668952e-01  4.27994681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.724860623999994 meters
Centerline goodness : 0.998956 with order 1
Centerline is valid?  [True, True]
Translation: X:23.95, Y:-0.22, Z:4.29
[[ 9.79417567e-01 -6.64994103e-02 -1.90575598e-01  2.39535192e+01]
 [ 6.82535186e-02  9.97664496e-01  2.64773902e-03 -2.18528045e-01]
 [ 1.89954435e-01 -1.56006973e-02  9.81668952e-01  4.29377828e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.784860623999997 meters
Centerline goodness : 0.998776 with order 1
Centerline is valid?  [True, True]
Translation: X:24.01, Y:-0.22, Z:4.31
[[ 9.79762266e-01 -6.12115434e-02 -1.90575575e-01  2.40130507e+01]
 [ 6.28674545e-02  9.98018368e-01  2.64942128e-03 -2.18733579e-01]
 [ 1.90035749e-01 -1.45768043e-02  9.81668952e-01  4.30749741e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.844860623999995 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:24.07, Y:-0.22, Z:4.32
[[ 9.80253745e-01 -5.27594754e-02 -1.90575532e-01  2.40718812e+01]
 [ 5.42584814e-02  9.98523400e-01  2.65253802e-03 -2.15931711e-01]
 [ 1.90154181e-01 -1.29404993e-02  9.81668952e-01  4.32156950e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.904860623999994 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:24.13, Y:-0.22, Z:4.33
[[ 9.80523545e-01 -4.74821676e-02 -1.90575503e-01  2.41312284e+01]
 [ 4.88832140e-02  9.98800973e-01  2.65462800e-03 -2.15993723e-01]
 [ 1.90220950e-01 -1.19188683e-02  9.81668952e-01  4.33234031e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 24.964860623999996 meters
Centerline goodness : 0.999049 with order 1
Centerline is valid?  [True, True]
Translation: X:24.19, Y:-0.22, Z:4.34
[[ 9.80546061e-01 -4.70148808e-02 -1.90575507e-01  2.41887998e+01]
 [ 4.84071514e-02  9.98824160e-01  2.65429102e-03 -2.16662516e-01]
 [ 1.90226630e-01 -1.18278720e-02  9.81668952e-01  4.34397010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.024860623999995 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:24.25, Y:-0.22, Z:4.35
[[ 9.80474391e-01 -4.84841904e-02 -1.90576103e-01  2.42451272e+01]
 [ 4.98954307e-02  9.98751035e-01  2.61080327e-03 -2.15339867e-01]
 [ 1.90211498e-01 -1.20687025e-02  9.81668953e-01  4.35434428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.084860623999994 meters
Centerline goodness : 0.998763 with order 1
Centerline is valid?  [True, True]
Translation: X:24.30, Y:-0.22, Z:4.37
[[ 9.80330785e-01 -5.13046040e-02 -1.90576467e-01  2.43025679e+01]
 [ 5.27632187e-02  9.98603708e-01  2.58394850e-03 -2.15993263e-01]
 [ 1.90177799e-01 -1.25885521e-02  9.81668953e-01  4.36795774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.144860623999996 meters
Centerline goodness : 0.998278 with order 1
Centerline is valid?  [True, True]
Translation: X:24.36, Y:-0.22, Z:4.38
[[ 9.80179628e-01 -5.41152519e-02 -1.90576590e-01  2.43621132e+01]
 [ 5.56245039e-02  9.98448439e-01  2.57490588e-03 -2.16233379e-01]
 [ 1.90141557e-01 -1.31245985e-02  9.81668953e-01  4.37960239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.204860623999995 meters
Centerline goodness : 0.998155 with order 1
Centerline is valid?  [True, True]
Translation: X:24.42, Y:-0.22, Z:4.39
[[ 9.79852093e-01 -5.97530760e-02 -1.90576616e-01  2.44201814e+01]
 [ 6.13670241e-02  9.98111952e-01  2.57296843e-03 -2.15966355e-01]
 [ 1.90063055e-01 -1.42162483e-02  9.81668953e-01  4.39200245e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.264860623999994 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:24.48, Y:-0.22, Z:4.40
[[ 9.79487737e-01 -6.54547851e-02 -1.90576612e-01  2.44802008e+01]
 [ 6.71750273e-02  9.97737889e-01  2.57322449e-03 -2.17325223e-01]
 [ 1.89977077e-01 -1.53224310e-02  9.81668953e-01  4.40136479e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.324860623999996 meters
Centerline goodness : 0.998132 with order 1
Centerline is valid?  [True, True]
Translation: X:24.54, Y:-0.22, Z:4.41
[[ 9.79103701e-01 -7.09682792e-02 -1.90576615e-01  2.45399545e+01]
 [ 7.27912080e-02  9.97343882e-01  2.57304435e-03 -2.17511560e-01]
 [ 1.89887816e-01 -1.63915792e-02  9.81668953e-01  4.41276583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.384860623999995 meters
Centerline goodness : 0.998210 with order 1
Centerline is valid?  [True, True]
Translation: X:24.60, Y:-0.22, Z:4.42
[[ 9.79038258e-01 -7.18654558e-02 -1.90576616e-01  2.46013036e+01]
 [ 7.37050857e-02  9.97276762e-01  2.57297844e-03 -2.18148799e-01]
 [ 1.89872722e-01 -1.65655101e-02  9.81668953e-01  4.42413270e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.444860623999997 meters
Centerline goodness : 0.998155 with order 1
Centerline is valid?  [True, True]
Translation: X:24.66, Y:-0.22, Z:4.44
[[ 9.79058653e-01 -7.15875190e-02 -1.90576447e-01  2.46609787e+01]
 [ 7.34243746e-02  9.97297436e-01  2.58541978e-03 -2.17412283e-01]
 [ 1.89876318e-01 -1.65242340e-02  9.81668953e-01  4.43675699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.504860623999996 meters
Centerline goodness : 0.997493 with order 1
Centerline is valid?  [True, True]
Translation: X:24.72, Y:-0.22, Z:4.45
[[ 9.79091173e-01 -7.11421004e-02 -1.90576172e-01  2.47216777e+01]
 [ 7.29745439e-02  9.97330400e-01  2.60553223e-03 -2.16971653e-01]
 [ 1.89882047e-01 -1.64582628e-02  9.81668953e-01  4.44731819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.564860623999994 meters
Centerline goodness : 0.997386 with order 1
Centerline is valid?  [True, True]
Translation: X:24.78, Y:-0.22, Z:4.46
[[ 9.79197844e-01 -6.96588207e-02 -1.90576048e-01  2.47825985e+01]
 [ 7.14653768e-02  9.97439654e-01  2.61456200e-03 -2.17175337e-01]
 [ 1.89905980e-01 -1.61797626e-02  9.81668953e-01  4.45859412e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.624860623999997 meters
Centerline goodness : 0.997712 with order 1
Centerline is valid?  [True, True]
Translation: X:24.84, Y:-0.22, Z:4.47
[[ 9.79541474e-01 -6.46476378e-02 -1.90575924e-01  2.48417163e+01]
 [ 6.63625691e-02  9.97792126e-01  2.62354644e-03 -2.15740823e-01]
 [ 1.89985551e-01 -1.52169805e-02  9.81668953e-01  4.47217722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.684860623999995 meters
Centerline goodness : 0.997469 with order 1
Centerline is valid?  [True, True]
Translation: X:24.90, Y:-0.21, Z:4.49
[[ 9.79895471e-01 -5.90396654e-02 -1.90575925e-01  2.49005797e+01]
 [ 6.06500858e-02  9.98155641e-01  2.62346550e-03 -2.13179629e-01]
 [ 1.90069547e-01 -1.41291682e-02  9.81668953e-01  4.48640504e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.744860623999994 meters
Centerline goodness : 0.997603 with order 1
Centerline is valid?  [True, True]
Translation: X:24.96, Y:-0.21, Z:4.50
[[ 9.80099318e-01 -5.55531345e-02 -1.90575906e-01  2.49595529e+01]
 [ 5.70988604e-02  9.98365079e-01  2.62491052e-03 -2.09711114e-01]
 [ 1.90118507e-01 -1.34543400e-02  9.81668953e-01  4.49772112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.804860623999996 meters
Centerline goodness : 0.997787 with order 1
Centerline is valid?  [True, True]
Translation: X:25.02, Y:-0.21, Z:4.51
[[ 9.80100004e-01 -5.55410190e-02 -1.90575908e-01  2.50193172e+01]
 [ 5.70864896e-02  9.98365786e-01  2.62475788e-03 -2.09196809e-01]
 [ 1.90118684e-01 -1.34518348e-02  9.81668953e-01  4.50884830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.864860623999995 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:25.08, Y:-0.21, Z:4.52
[[ 9.80059433e-01 -5.62524573e-02 -1.90575889e-01  2.50789215e+01]
 [ 5.78114449e-02  9.98324066e-01  2.62609303e-03 -2.09408506e-01]
 [ 1.90108772e-01 -1.35911948e-02  9.81668953e-01  4.51964238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.924860623999994 meters
Centerline goodness : 0.997841 with order 1
Centerline is valid?  [True, True]
Translation: X:25.14, Y:-0.21, Z:4.53
[[ 9.79825896e-01 -6.01834205e-02 -1.90575889e-01  2.51387362e+01]
 [ 6.18156624e-02  9.98084128e-01  2.62609303e-03 -2.07109288e-01]
 [ 1.90052723e-01 -1.43536888e-02  9.81668953e-01  4.53186186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 25.984860623999996 meters
Centerline goodness : 0.997680 with order 1
Centerline is valid?  [True, True]
Translation: X:25.20, Y:-0.21, Z:4.54
[[ 9.79584841e-01 -6.39874066e-02 -1.90575840e-01  2.51976098e+01]
 [ 6.56912256e-02  9.97836533e-01  2.62969738e-03 -2.05595268e-01]
 [ 1.89995268e-01 -1.50951722e-02  9.81668953e-01  4.54234793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.044860623999995 meters
Centerline goodness : 0.997624 with order 1
Centerline is valid?  [True, True]
Translation: X:25.26, Y:-0.20, Z:4.55
[[ 9.79274791e-01 -6.85692287e-02 -1.90575825e-01  2.52574903e+01]
 [ 7.03586173e-02  9.97518293e-01  2.63076537e-03 -2.04522809e-01]
 [ 1.89922482e-01 -1.59848937e-02  9.81668953e-01  4.55380363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.104860623999993 meters
Centerline goodness : 0.997521 with order 1
Centerline is valid?  [True, True]
Translation: X:25.32, Y:-0.20, Z:4.57
[[ 9.79110783e-01 -7.08726686e-02 -1.90575810e-01  2.53163821e+01]
 [ 7.27051772e-02  9.97350004e-01  2.63184832e-03 -2.03898458e-01]
 [ 1.89884259e-01 -1.64327191e-02  9.81668953e-01  4.56520131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.164860623999996 meters
Centerline goodness : 0.997513 with order 1
Centerline is valid?  [True, True]
Translation: X:25.38, Y:-0.21, Z:4.58
[[ 9.78901205e-01 -7.37109082e-02 -1.90575794e-01  2.53753186e+01]
 [ 7.55965140e-02  9.97135013e-01  2.63302740e-03 -2.05075353e-01]
 [ 1.89835714e-01 -1.69843393e-02  9.81668953e-01  4.57884110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.224860623999994 meters
Centerline goodness : 0.997420 with order 1
Centerline is valid?  [True, True]
Translation: X:25.43, Y:-0.21, Z:4.59
[[ 9.78675474e-01 -7.66497604e-02 -1.90575786e-01  2.54342961e+01]
 [ 7.85902178e-02  9.96903527e-01  2.63360979e-03 -2.06730672e-01]
 [ 1.89783807e-01 -1.75548418e-02  9.81668953e-01  4.59012348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.284860623999997 meters
Centerline goodness : 0.997321 with order 1
Centerline is valid?  [True, True]
Translation: X:25.49, Y:-0.21, Z:4.60
[[ 9.78558940e-01 -7.81234290e-02 -1.90575786e-01  2.54942092e+01]
 [ 8.00913332e-02  9.96784050e-01  2.63360979e-03 -2.08396859e-01]
 [ 1.89757157e-01 -1.78406111e-02  9.81668953e-01  4.60345321e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.344860623999995 meters
Centerline goodness : 0.997350 with order 1
Centerline is valid?  [True, True]
Translation: X:25.55, Y:-0.21, Z:4.62
[[ 9.78275616e-01 -8.15948057e-02 -1.90575723e-01  2.55538107e+01]
 [ 8.36282353e-02  9.96493532e-01  2.63814997e-03 -2.12505764e-01]
 [ 1.89692216e-01 -1.85183492e-02  9.81668953e-01  4.61527687e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.404860623999994 meters
Centerline goodness : 0.997047 with order 1
Centerline is valid?  [True, True]
Translation: X:25.61, Y:-0.22, Z:4.62
[[ 9.78043174e-01 -8.43355325e-02 -1.90575621e-01  2.56140008e+01]
 [ 8.64214170e-02  9.96255158e-01  2.64549936e-03 -2.15677395e-01]
 [ 1.89638835e-01 -1.90572278e-02  9.81668953e-01  4.62466614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.464860623999996 meters
Centerline goodness : 0.997309 with order 1
Centerline is valid?  [True, True]
Translation: X:25.67, Y:-0.22, Z:4.63
[[ 9.78038315e-01 -8.43919609e-02 -1.90575577e-01  2.56726635e+01]
 [ 8.64795037e-02  9.96250109e-01  2.64864909e-03 -2.17926958e-01]
 [ 1.89637415e-01 -1.90713616e-02  9.81668953e-01  4.63409006e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.524860623999995 meters
Centerline goodness : 0.997596 with order 1
Centerline is valid?  [True, True]
Translation: X:25.73, Y:-0.22, Z:4.64
[[ 9.77861791e-01 -8.64132500e-02 -1.90575621e-01  2.57328822e+01]
 [ 8.85378206e-02  9.96069303e-01  2.64549140e-03 -2.22005355e-01]
 [ 1.89597920e-01 -1.94600751e-02  9.81668953e-01  4.64471538e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.584860623999994 meters
Centerline goodness : 0.997891 with order 1
Centerline is valid?  [True, True]
Translation: X:25.79, Y:-0.23, Z:4.66
[[ 9.77805019e-01 -8.70534730e-02 -1.90575545e-01  2.57929259e+01]
 [ 8.91910142e-02  9.96011012e-01  2.65093594e-03 -2.25216091e-01]
 [ 1.89584568e-01 -1.95897246e-02  9.81668953e-01  4.65680603e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.644860623999996 meters
Centerline goodness : 0.997973 with order 1
Centerline is valid?  [True, True]
Translation: X:25.85, Y:-0.23, Z:4.67
[[ 9.77741860e-01 -8.77601862e-02 -1.90575455e-01  2.58523233e+01]
 [ 8.99121259e-02  9.95946157e-01  2.65736743e-03 -2.28898579e-01]
 [ 1.89569681e-01 -1.97332637e-02  9.81668953e-01  4.66987928e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.704860623999995 meters
Centerline goodness : 0.997619 with order 1
Centerline is valid?  [True, True]
Translation: X:25.91, Y:-0.23, Z:4.68
[[ 9.77704532e-01 -8.81752637e-02 -1.90575367e-01  2.59111735e+01]
 [ 9.03361544e-02  9.95907769e-01  2.66370956e-03 -2.32345555e-01]
 [ 1.89560615e-01 -1.98201667e-02  9.81668954e-01  4.68284935e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.764860623999994 meters
Centerline goodness : 0.997965 with order 1
Centerline is valid?  [True, True]
Translation: X:25.97, Y:-0.24, Z:4.69
[[ 9.77559341e-01 -8.97706453e-02 -1.90575356e-01  2.59719958e+01]
 [ 9.19613829e-02  9.95759009e-01  2.66445803e-03 -2.37153774e-01]
 [ 1.89527938e-01 -2.01302391e-02  9.81668954e-01  4.69392481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.824860623999996 meters
Centerline goodness : 0.997950 with order 1
Centerline is valid?  [True, True]
Translation: X:26.03, Y:-0.24, Z:4.71
[[ 9.77449282e-01 -9.09615480e-02 -1.90575174e-01  2.60321942e+01]
 [ 9.31769538e-02  9.95645965e-01  2.67741284e-03 -2.41239184e-01]
 [ 1.89501862e-01 -2.03742495e-02  9.81668954e-01  4.70747931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.884860623999995 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:26.09, Y:-0.24, Z:4.72
[[ 9.77346685e-01 -9.20576606e-02 -1.90575038e-01  2.60922645e+01]
 [ 9.42953310e-02  9.95540642e-01  2.68706012e-03 -2.43746056e-01]
 [ 1.89477831e-01 -2.05965256e-02  9.81668954e-01  4.71928599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 26.944860623999993 meters
Centerline goodness : 0.997936 with order 1
Centerline is valid?  [True, True]
Translation: X:26.15, Y:-0.25, Z:4.73
[[ 9.77252756e-01 -9.30495714e-02 -1.90574992e-01  2.61518601e+01]
 [ 9.53063313e-02  9.95444356e-01  2.69030187e-03 -2.48372482e-01]
 [ 1.89456469e-01 -2.07921083e-02  9.81668954e-01  4.72689770e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.004860623999996 meters
Centerline goodness : 0.997814 with order 1
Centerline is valid?  [True, True]
Translation: X:26.21, Y:-0.25, Z:4.74
[[ 9.77245297e-01 -9.31278735e-02 -1.90574992e-01  2.62128137e+01]
 [ 9.53860909e-02  9.95436716e-01  2.69030187e-03 -2.50368911e-01]
 [ 1.89454803e-01 -2.08072884e-02  9.81668954e-01  4.73841488e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.064860623999994 meters
Centerline goodness : 0.997815 with order 1
Centerline is valid?  [True, True]
Translation: X:26.27, Y:-0.25, Z:4.75
[[ 9.77527711e-01 -9.01155755e-02 -1.90574807e-01  2.62726161e+01]
 [ 9.23202317e-02  9.95725699e-01  2.70335002e-03 -2.50939831e-01]
 [ 1.89516619e-01 -2.02365099e-02  9.81668954e-01  4.74891278e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.124860623999997 meters
Centerline goodness : 0.997989 with order 1
Centerline is valid?  [True, True]
Translation: X:26.33, Y:-0.25, Z:4.76
[[ 9.77741394e-01 -8.77667815e-02 -1.90574809e-01  2.63321375e+01]
 [ 8.99276845e-02  9.95944629e-01  2.70321622e-03 -2.51813064e-01]
 [ 1.89564705e-01 -1.97809977e-02  9.81668954e-01  4.76120539e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.184860623999995 meters
Centerline goodness : 0.997366 with order 1
Centerline is valid?  [True, True]
Translation: X:26.39, Y:-0.25, Z:4.77
[[ 9.78191339e-01 -8.26012385e-02 -1.90574764e-01  2.63911827e+01]
 [ 8.46665815e-02  9.96405663e-01  2.70641762e-03 -2.49773513e-01]
 [ 1.89666220e-01 -1.87827080e-02  9.81668954e-01  4.77410678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.244860623999994 meters
Centerline goodness : 0.997542 with order 1
Centerline is valid?  [True, True]
Translation: X:26.45, Y:-0.25, Z:4.79
[[ 9.78258259e-01 -8.18048630e-02 -1.90574771e-01  2.64521469e+01]
 [ 8.38552831e-02  9.96474269e-01  2.70593072e-03 -2.50525346e-01]
 [ 1.89681497e-01 -1.86278004e-02  9.81668954e-01  4.78572095e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.304860623999996 meters
Centerline goodness : 0.997801 with order 1
Centerline is valid?  [True, True]
Translation: X:26.51, Y:-0.25, Z:4.80
[[ 9.78221174e-01 -8.22475594e-02 -1.90574588e-01  2.65131004e+01]
 [ 8.43086877e-02  9.96435976e-01  2.71870637e-03 -2.54096716e-01]
 [ 1.89671769e-01 -1.87265896e-02  9.81668954e-01  4.79569836e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.364860623999995 meters
Centerline goodness : 0.997728 with order 1
Centerline is valid?  [True, True]
Translation: X:26.58, Y:-0.26, Z:4.80
[[ 9.78067221e-01 -8.40592644e-02 -1.90574266e-01  2.65751380e+01]
 [ 8.61584447e-02  9.96277677e-01  2.74109432e-03 -2.56521429e-01]
 [ 1.89634473e-01 -1.91005569e-02  9.81668954e-01  4.80491945e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.424860623999994 meters
Centerline goodness : 0.997681 with order 1
Centerline is valid?  [True, True]
Translation: X:26.64, Y:-0.26, Z:4.82
[[ 9.78107842e-01 -8.35856867e-02 -1.90574084e-01  2.66360853e+01]
 [ 8.56784813e-02  9.96319033e-01  2.75370051e-03 -2.58440155e-01]
 [ 1.89642417e-01 -1.90215142e-02  9.81668954e-01  4.81615064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.484860623999996 meters
Centerline goodness : 0.997541 with order 1
Centerline is valid?  [True, True]
Translation: X:26.70, Y:-0.26, Z:4.83
[[ 9.78154012e-01 -8.30440629e-02 -1.90573903e-01  2.66960442e+01]
 [ 8.51291782e-02  9.96366083e-01  2.76616872e-03 -2.62090092e-01]
 [ 1.89651660e-01 -1.89291388e-02  9.81668954e-01  4.82873813e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.544860623999995 meters
Centerline goodness : 0.997392 with order 1
Centerline is valid?  [True, True]
Translation: X:26.76, Y:-0.26, Z:4.84
[[ 9.78263134e-01 -8.17486702e-02 -1.90573859e-01  2.67566458e+01]
 [ 8.38102616e-02  9.96477883e-01  2.76925351e-03 -2.62724962e-01]
 [ 1.89676252e-01 -1.86811036e-02  9.81668954e-01  4.84298510e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.604860623999993 meters
Centerline goodness : 0.997007 with order 1
Centerline is valid?  [True, True]
Translation: X:26.82, Y:-0.26, Z:4.85
[[ 9.78446856e-01 -7.95199735e-02 -1.90573671e-01  2.68163604e+01]
 [ 8.15425462e-02  9.96665979e-01  2.78210363e-03 -2.62937616e-01]
 [ 1.89717062e-01 -1.82620029e-02  9.81668954e-01  4.85401328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.664860623999996 meters
Centerline goodness : 0.997130 with order 1
Centerline is valid?  [True, True]
Translation: X:26.88, Y:-0.26, Z:4.86
[[ 9.78741770e-01 -7.58038686e-02 -1.90573662e-01  2.68766632e+01]
 [ 7.77573662e-02  9.96968429e-01  2.78274770e-03 -2.63759623e-01]
 [ 1.89784981e-01 -1.75420974e-02  9.81668954e-01  4.86298185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.724860623999994 meters
Centerline goodness : 0.997223 with order 1
Centerline is valid?  [True, True]
Translation: X:26.94, Y:-0.26, Z:4.87
[[ 9.78855714e-01 -7.43181505e-02 -1.90573619e-01  2.69381918e+01]
 [ 7.62445418e-02  9.97085257e-01  2.78565932e-03 -2.63898435e-01]
 [ 1.89811121e-01 -1.72569568e-02  9.81668954e-01  4.87490434e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.784860623999993 meters
Centerline goodness : 0.996483 with order 1
Centerline is valid?  [True, True]
Translation: X:27.00, Y:-0.26, Z:4.89
[[ 9.79322308e-01 -6.78940391e-02 -1.90573388e-01  2.69975631e+01]
 [ 6.97038149e-02  9.97563798e-01  2.80136420e-03 -2.61952319e-01]
 [ 1.89918917e-01 -1.60271306e-02  9.81668954e-01  4.88776366e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.844860623999995 meters
Centerline goodness : 0.996561 with order 1
Centerline is valid?  [True, True]
Translation: X:27.06, Y:-0.26, Z:4.90
[[ 9.79808446e-01 -6.04748402e-02 -1.90573351e-01  2.70562829e+01]
 [ 6.21468912e-02  9.98063075e-01  2.80387497e-03 -2.60076463e-01]
 [ 1.90034661e-01 -1.45908017e-02  9.81668954e-01  4.90051669e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.904860623999994 meters
Centerline goodness : 0.996540 with order 1
Centerline is valid?  [True, True]
Translation: X:27.12, Y:-0.26, Z:4.91
[[ 9.80178784e-01 -5.41420432e-02 -1.90573318e-01  2.71156435e+01]
 [ 5.56965287e-02  9.98443800e-01  2.80610350e-03 -2.58808174e-01]
 [ 1.90124820e-01 -1.33647554e-02  9.81668954e-01  4.91385842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 27.964860623999996 meters
Centerline goodness : 0.996362 with order 1
Centerline is valid?  [True, True]
Translation: X:27.17, Y:-0.26, Z:4.93
[[ 9.80584318e-01 -4.62191024e-02 -1.90573317e-01  2.71743804e+01]
 [ 4.76259474e-02  9.98861299e-01  2.80618765e-03 -2.56733277e-01]
 [ 1.90226612e-01 -1.18279384e-02  9.81668954e-01  4.92567007e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.024860623999995 meters
Centerline goodness : 0.996292 with order 1
Centerline is valid?  [True, True]
Translation: X:27.23, Y:-0.26, Z:4.94
[[ 9.80789396e-01 -4.16409413e-02 -1.90573329e-01  2.72341877e+01]
 [ 4.29622984e-02  9.99072755e-01  2.80541235e-03 -2.55916836e-01]
 [ 1.90279801e-01 -1.09389869e-02  9.81668954e-01  4.93640864e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.084860623999994 meters
Centerline goodness : 0.996394 with order 1
Centerline is valid?  [True, True]
Translation: X:27.29, Y:-0.25, Z:4.95
[[ 9.80864873e-01 -3.98235181e-02 -1.90573314e-01  2.72901461e+01]
 [ 4.11111847e-02  9.99150637e-01  2.80639215e-03 -2.54305739e-01]
 [ 1.90299688e-01 -1.05873862e-02  9.81668954e-01  4.94726388e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.144860623999996 meters
Centerline goodness : 0.996097 with order 1
Centerline is valid?  [True, True]
Translation: X:27.35, Y:-0.25, Z:4.96
[[ 9.80887850e-01 -3.92510830e-02 -1.90573813e-01  2.73472674e+01]
 [ 4.05214329e-02  9.99174824e-01  2.77208727e-03 -2.53848624e-01]
 [ 1.90307749e-01 -1.04414307e-02  9.81668955e-01  4.95813727e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.204860623999995 meters
Centerline goodness : 0.995295 with order 1
Centerline is valid?  [True, True]
Translation: X:27.41, Y:-0.25, Z:4.97
[[ 9.80767399e-01 -4.21528628e-02 -1.90573988e-01  2.74063127e+01]
 [ 4.34749714e-02  9.99050704e-01  2.76001675e-03 -2.53488695e-01]
 [ 1.90276734e-01 -1.09921331e-02  9.81668955e-01  4.97044477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.264860623999994 meters
Centerline goodness : 0.995388 with order 1
Centerline is valid?  [True, True]
Translation: X:27.47, Y:-0.25, Z:4.98
[[ 9.80439859e-01 -4.91857106e-02 -1.90574001e-01  2.74656656e+01]
 [ 5.06387434e-02  9.98713224e-01  2.75915314e-03 -2.53934426e-01]
 [ 1.90193064e-01 -1.23556116e-02  9.81668955e-01  4.98265413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.324860623999996 meters
Centerline goodness : 0.995654 with order 1
Centerline is valid?  [True, True]
Translation: X:27.52, Y:-0.26, Z:4.99
[[ 9.80126329e-01 -5.50811362e-02 -1.90573997e-01  2.75236899e+01]
 [ 5.66440871e-02  9.98390621e-01  2.75940731e-03 -2.55076568e-01]
 [ 1.90115300e-01 -1.34994578e-02  9.81668955e-01  4.99264970e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.384860623999995 meters
Centerline goodness : 0.995417 with order 1
Centerline is valid?  [True, True]
Translation: X:27.58, Y:-0.26, Z:5.00
[[ 9.79556361e-01 -6.44273452e-02 -1.90574007e-01  2.75828806e+01]
 [ 6.61643066e-02  9.97804928e-01  2.75874424e-03 -2.55996104e-01]
 [ 1.89977944e-01 -1.53115425e-02  9.81668955e-01  5.00327648e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.444860623999993 meters
Centerline goodness : 0.996076 with order 1
Centerline is valid?  [True, True]
Translation: X:27.64, Y:-0.26, Z:5.01
[[ 9.79014398e-01 -7.21965622e-02 -1.90574041e-01  2.76422297e+01]
 [ 7.40777850e-02  9.97248657e-01  2.75637451e-03 -2.58141726e-01]
 [ 1.89850706e-01 -1.68158332e-02  9.81668955e-01  5.01486137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.504860623999996 meters
Centerline goodness : 0.995716 with order 1
Centerline is valid?  [True, True]
Translation: X:27.70, Y:-0.26, Z:5.03
[[ 9.78787205e-01 -7.52140132e-02 -1.90574028e-01  2.77019024e+01]
 [ 7.71516049e-02  9.97015560e-01  2.75725997e-03 -2.59094601e-01]
 [ 1.89797887e-01 -1.74018629e-02  9.81668955e-01  5.02586986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.564860623999994 meters
Centerline goodness : 0.995962 with order 1
Centerline is valid?  [True, True]
Translation: X:27.76, Y:-0.26, Z:5.04
[[ 9.78594506e-01 -7.76809898e-02 -1.90574020e-01  2.77623462e+01]
 [ 7.96646296e-02  9.96817908e-01  2.75781094e-03 -2.60143594e-01]
 [ 1.89753366e-01 -1.78807874e-02  9.81668955e-01  5.03850878e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.624860623999993 meters
Centerline goodness : 0.996387 with order 1
Centerline is valid?  [True, True]
Translation: X:27.82, Y:-0.26, Z:5.05
[[ 9.78548273e-01 -7.82615621e-02 -1.90573882e-01  2.78215799e+01]
 [ 8.02578420e-02  9.96770295e-01  2.76728610e-03 -2.62588436e-01]
 [ 1.89741813e-01 -1.80029716e-02  9.81668955e-01  5.05331731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.684860623999995 meters
Centerline goodness : 0.995797 with order 1
Centerline is valid?  [True, True]
Translation: X:27.88, Y:-0.26, Z:5.07
[[ 9.78583656e-01 -7.78179121e-02 -1.90573874e-01  2.78804836e+01]
 [ 7.98060404e-02  9.96806568e-01  2.76785476e-03 -2.63120459e-01]
 [ 1.89749901e-01 -1.79175237e-02  9.81668955e-01  5.06532761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.744860623999994 meters
Centerline goodness : 0.996076 with order 1
Centerline is valid?  [True, True]
Translation: X:27.94, Y:-0.26, Z:5.08
[[ 9.78835204e-01 -7.45871483e-02 -1.90573874e-01  2.79404912e+01]
 [ 7.65151113e-02  9.97064580e-01  2.76785476e-03 -2.64187240e-01]
 [ 1.89808013e-01 -1.72910549e-02  9.81668955e-01  5.07536132e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.804860623999996 meters
Centerline goodness : 0.996102 with order 1
Centerline is valid?  [True, True]
Translation: X:28.00, Y:-0.27, Z:5.09
[[ 9.79036644e-01 -7.18948150e-02 -1.90573831e-01  2.80015261e+01]
 [ 7.37732039e-02  9.97271195e-01  2.77079957e-03 -2.65271225e-01]
 [ 1.89854587e-01 -1.67719564e-02  9.81668955e-01  5.08620471e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.864860623999995 meters
Centerline goodness : 0.996045 with order 1
Centerline is valid?  [True, True]
Translation: X:28.06, Y:-0.26, Z:5.10
[[ 9.79171750e-01 -7.00310742e-02 -1.90573693e-01  2.80612985e+01]
 [ 7.18765890e-02  9.97409658e-01  2.78031899e-03 -2.63787116e-01]
 [ 1.89885333e-01 -1.64201968e-02  9.81668955e-01  5.09909495e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.924860623999994 meters
Centerline goodness : 0.996059 with order 1
Centerline is valid?  [True, True]
Translation: X:28.12, Y:-0.26, Z:5.11
[[ 9.79262567e-01 -6.87496183e-02 -1.90573646e-01  2.81203384e+01]
 [ 7.05718738e-02  9.97502813e-01  2.78347269e-03 -2.63521882e-01]
 [ 1.89906386e-01 -1.61748899e-02  9.81668955e-01  5.11175416e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 28.984860623999996 meters
Centerline goodness : 0.996551 with order 1
Centerline is valid?  [True, True]
Translation: X:28.18, Y:-0.27, Z:5.12
[[ 9.79194719e-01 -6.97093120e-02 -1.90573646e-01  2.81796251e+01]
 [ 7.15494505e-02  9.97433170e-01  2.78351210e-03 -2.65014848e-01]
 [ 1.89890439e-01 -1.63610400e-02  9.81668955e-01  5.12297260e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.044860623999995 meters
Centerline goodness : 0.995996 with order 1
Centerline is valid?  [True, True]
Translation: X:28.24, Y:-0.26, Z:5.14
[[ 9.79009884e-01 -7.22588121e-02 -1.90573637e-01  2.82398166e+01]
 [ 7.41465538e-02  9.97243469e-01  2.78412324e-03 -2.64455203e-01]
 [ 1.89847137e-01 -1.68560626e-02  9.81668955e-01  5.13514536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.104860623999993 meters
Centerline goodness : 0.996122 with order 1
Centerline is valid?  [True, True]
Translation: X:28.30, Y:-0.26, Z:5.15
[[ 9.78893785e-01 -7.38153037e-02 -1.90573499e-01  2.82986885e+01]
 [ 7.57338465e-02  9.97124155e-01  2.79351218e-03 -2.64287338e-01]
 [ 1.89819236e-01 -1.71674159e-02  9.81668955e-01  5.14621572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.164860623999996 meters
Centerline goodness : 0.996402 with order 1
Centerline is valid?  [True, True]
Translation: X:28.36, Y:-0.27, Z:5.16
[[ 9.78645509e-01 -7.70374227e-02 -1.90573352e-01  2.83584994e+01]
 [ 7.90179083e-02  9.96869254e-01  2.80355574e-03 -2.66343006e-01]
 [ 1.89760736e-01 -1.78023949e-02  9.81668955e-01  5.15777196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.224860623999994 meters
Centerline goodness : 0.996347 with order 1
Centerline is valid?  [True, True]
Translation: X:28.42, Y:-0.27, Z:5.17
[[ 9.78478579e-01 -7.91295462e-02 -1.90573307e-01  2.84195834e+01]
 [ 8.11495791e-02  9.96697983e-01  2.80661429e-03 -2.66716588e-01]
 [ 1.89721944e-01 -1.82111556e-02  9.81668955e-01  5.17115997e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.284860623999993 meters
Centerline goodness : 0.996714 with order 1
Centerline is valid?  [True, True]
Translation: X:28.48, Y:-0.27, Z:5.18
[[ 9.78338374e-01 -8.08449954e-02 -1.90573117e-01  2.84776016e+01]
 [ 8.28994446e-02  9.96553929e-01  2.81944317e-03 -2.68478098e-01]
 [ 1.89688450e-01 -1.85567750e-02  9.81668955e-01  5.18237631e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.344860623999995 meters
Centerline goodness : 0.996500 with order 1
Centerline is valid?  [True, True]
Translation: X:28.54, Y:-0.27, Z:5.19
[[ 9.78203577e-01 -8.24598935e-02 -1.90573156e-01  2.85371872e+01]
 [ 8.45439013e-02  9.96415774e-01  2.81680841e-03 -2.68968893e-01]
 [ 1.89657825e-01 -1.88672101e-02  9.81668955e-01  5.19409963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.404860623999994 meters
Centerline goodness : 0.996484 with order 1
Centerline is valid?  [True, True]
Translation: X:28.60, Y:-0.27, Z:5.21
[[ 9.78148859e-01 -8.31065569e-02 -1.90573108e-01  2.85980020e+01]
 [ 8.52032287e-02  9.96359602e-01  2.82004600e-03 -2.70538520e-01]
 [ 1.89644982e-01 -1.89958689e-02  9.81668955e-01  5.20630753e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.464860623999993 meters
Centerline goodness : 0.996819 with order 1
Centerline is valid?  [True, True]
Translation: X:28.66, Y:-0.27, Z:5.22
[[ 9.78021481e-01 -8.45928388e-02 -1.90572912e-01  2.86582300e+01]
 [ 8.67197234e-02  9.96228720e-01  2.83322940e-03 -2.74110193e-01]
 [ 1.89614537e-01 -1.92973894e-02  9.81668955e-01  5.21760298e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.524860623999995 meters
Centerline goodness : 0.996819 with order 1
Centerline is valid?  [True, True]
Translation: X:28.72, Y:-0.28, Z:5.23
[[ 9.78013656e-01 -8.46834247e-02 -1.90572835e-01  2.87173074e+01]
 [ 8.68129865e-02  9.96220583e-01  2.83836729e-03 -2.76161303e-01]
 [ 1.89612218e-01 -1.93201589e-02  9.81668955e-01  5.22904969e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.584860623999994 meters
Centerline goodness : 0.996411 with order 1
Centerline is valid?  [True, True]
Translation: X:28.78, Y:-0.28, Z:5.24
[[ 9.78059026e-01 -8.41579212e-02 -1.90572786e-01  2.87770213e+01]
 [ 8.62783325e-02  9.96267020e-01  2.84164643e-03 -2.77763683e-01]
 [ 1.89622235e-01 -1.92216002e-02  9.81668955e-01  5.24100933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.644860623999996 meters
Centerline goodness : 0.996183 with order 1
Centerline is valid?  [True, True]
Translation: X:28.84, Y:-0.28, Z:5.25
[[ 9.78103201e-01 -8.36432620e-02 -1.90572647e-01  2.88364560e+01]
 [ 8.57558942e-02  9.96312099e-01  2.85099021e-03 -2.79331981e-01]
 [ 1.89631367e-01 -1.91312904e-02  9.81668956e-01  5.25319941e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.704860623999995 meters
Centerline goodness : 0.996288 with order 1
Centerline is valid?  [True, True]
Translation: X:28.90, Y:-0.28, Z:5.26
[[ 9.78052797e-01 -8.42306230e-02 -1.90572635e-01  2.88964017e+01]
 [ 8.63543354e-02  9.96260406e-01  2.85174509e-03 -2.82791054e-01]
 [ 1.89619767e-01 -1.92459305e-02  9.81668956e-01  5.26369561e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.764860623999994 meters
Centerline goodness : 0.996655 with order 1
Centerline is valid?  [True, True]
Translation: X:28.96, Y:-0.28, Z:5.28
[[ 9.78070552e-01 -8.40243018e-02 -1.90572589e-01  2.89562401e+01]
 [ 8.61447762e-02  9.96278539e-01  2.85487114e-03 -2.84349719e-01]
 [ 1.89623501e-01 -1.92090984e-02  9.81668956e-01  5.27558536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.824860623999996 meters
Centerline goodness : 0.996454 with order 1
Centerline is valid?  [True, True]
Translation: X:29.02, Y:-0.29, Z:5.29
[[ 9.78055371e-01 -8.42010455e-02 -1.90572491e-01  2.90169940e+01]
 [ 8.63260621e-02  9.96262829e-01  2.86136254e-03 -2.87259546e-01]
 [ 1.89619359e-01 -1.92499437e-02  9.81668956e-01  5.28764666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.884860623999995 meters
Centerline goodness : 0.996536 with order 1
Centerline is valid?  [True, True]
Translation: X:29.08, Y:-0.29, Z:5.30
[[ 9.77999268e-01 -8.48506376e-02 -1.90572297e-01  2.90782905e+01]
 [ 8.69902336e-02  9.96205018e-01  2.87425775e-03 -2.89834102e-01]
 [ 1.89605196e-01 -1.93889506e-02  9.81668956e-01  5.30017253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 29.944860623999993 meters
Centerline goodness : 0.996364 with order 1
Centerline is valid?  [True, True]
Translation: X:29.14, Y:-0.29, Z:5.31
[[ 9.77903762e-01 -8.59447841e-02 -1.90572101e-01  2.91377892e+01]
 [ 8.81072307e-02  9.96106812e-01  2.88713532e-03 -2.92307294e-01]
 [ 1.89582034e-01 -1.96141206e-02  9.81668956e-01  5.31310802e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.004860623999996 meters
Centerline goodness : 0.996515 with order 1
Centerline is valid?  [True, True]
Translation: X:29.20, Y:-0.30, Z:5.32
[[ 9.77718943e-01 -8.80224123e-02 -1.90572093e-01  2.91975981e+01]
 [ 9.02236371e-02  9.95917344e-01  2.88768424e-03 -2.96228378e-01]
 [ 1.89539872e-01 -2.00174510e-02  9.81668956e-01  5.32460719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.064860623999994 meters
Centerline goodness : 0.996222 with order 1
Centerline is valid?  [True, True]
Translation: X:29.26, Y:-0.30, Z:5.34
[[ 9.77601946e-01 -8.93127143e-02 -1.90571966e-01  2.92562680e+01]
 [ 9.15395630e-02  9.95797229e-01  2.89602683e-03 -2.98308112e-01]
 [ 1.89512384e-01 -2.02760360e-02  9.81668956e-01  5.33628900e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.124860623999993 meters
Centerline goodness : 0.996448 with order 1
Centerline is valid?  [True, True]
Translation: X:29.32, Y:-0.30, Z:5.35
[[ 9.77565467e-01 -8.97112294e-02 -1.90571912e-01  2.93170365e+01]
 [ 9.19461851e-02  9.95759756e-01  2.89960627e-03 -3.02122282e-01]
 [ 1.89503713e-01 -2.03569152e-02  9.81668956e-01  5.34806573e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.184860623999995 meters
Centerline goodness : 0.996818 with order 1
Centerline is valid?  [True, True]
Translation: X:29.38, Y:-0.31, Z:5.36
[[ 9.77511912e-01 -9.02932171e-02 -1.90571765e-01  2.93763200e+01]
 [ 9.25408608e-02  9.95704638e-01  2.90923849e-03 -3.05780491e-01]
 [ 1.89490506e-01 -2.04794904e-02  9.81668956e-01  5.35907922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.244860623999994 meters
Centerline goodness : 0.996914 with order 1
Centerline is valid?  [True, True]
Translation: X:29.44, Y:-0.31, Z:5.37
[[ 9.77574216e-01 -8.96161883e-02 -1.90571746e-01  2.94367869e+01]
 [ 9.18514708e-02  9.95768465e-01  2.91048021e-03 -3.08944351e-01]
 [ 1.89504509e-01 -2.03495056e-02  9.81668956e-01  5.36875080e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.304860623999993 meters
Centerline goodness : 0.996837 with order 1
Centerline is valid?  [True, True]
Translation: X:29.50, Y:-0.31, Z:5.38
[[ 9.77727836e-01 -8.79246512e-02 -1.90571601e-01  2.94962301e+01]
 [ 9.01302740e-02  9.95925704e-01  2.91993989e-03 -3.11618641e-01]
 [ 1.89538421e-01 -2.00311771e-02  9.81668956e-01  5.37779860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.364860623999995 meters
Centerline goodness : 0.996672 with order 1
Centerline is valid?  [True, True]
Translation: X:29.56, Y:-0.31, Z:5.39
[[ 9.77867597e-01 -8.63563903e-02 -1.90571605e-01  2.95568815e+01]
 [ 8.85327747e-02  9.96068985e-01  2.91968763e-03 -3.14855282e-01]
 [ 1.89570331e-01 -1.97269009e-02  9.81668956e-01  5.39165110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.424860623999994 meters
Centerline goodness : 0.996483 with order 1
Centerline is valid?  [True, True]
Translation: X:29.61, Y:-0.32, Z:5.40
[[ 9.78004715e-01 -8.47898491e-02 -1.90571402e-01  2.96148350e+01]
 [ 8.69396133e-02  9.96209266e-01  2.93285520e-03 -3.17375341e-01]
 [ 1.89600320e-01 -1.94365502e-02  9.81668956e-01  5.40405072e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.484860623999996 meters
Centerline goodness : 0.996363 with order 1
Centerline is valid?  [True, True]
Translation: X:29.68, Y:-0.32, Z:5.42
[[ 9.78104848e-01 -8.36267183e-02 -1.90571451e-01  2.96752332e+01]
 [ 8.57542139e-02  9.96312015e-01  2.92965227e-03 -3.20962173e-01]
 [ 1.89623630e-01 -1.92078121e-02  9.81668956e-01  5.41653136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.544860623999995 meters
Centerline goodness : 0.996737 with order 1
Centerline is valid?  [True, True]
Translation: X:29.73, Y:-0.32, Z:5.43
[[ 9.78109499e-01 -8.35726499e-02 -1.90571301e-01  2.97346425e+01]
 [ 8.57010216e-02  9.96316564e-01  2.93941379e-03 -3.22552407e-01]
 [ 1.89623689e-01 -1.92072237e-02  9.81668956e-01  5.42794973e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.604860623999993 meters
Centerline goodness : 0.996601 with order 1
Centerline is valid?  [True, True]
Translation: X:29.80, Y:-0.33, Z:5.44
[[ 9.78187556e-01 -8.26539999e-02 -1.90571301e-01  2.97959667e+01]
 [ 8.47652711e-02  9.96396612e-01  2.93941379e-03 -3.25242164e-01]
 [ 1.89641644e-01 -1.90291260e-02  9.81668956e-01  5.43893980e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.664860623999996 meters
Centerline goodness : 0.996247 with order 1
Centerline is valid?  [True, True]
Translation: X:29.85, Y:-0.33, Z:5.45
[[ 9.78330199e-01 -8.09486082e-02 -1.90571099e-01  2.98546560e+01]
 [ 8.30306457e-02  9.96542621e-01  2.95244114e-03 -3.26596475e-01]
 [ 1.89673227e-01 -1.87117037e-02  9.81668956e-01  5.45111035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.724860623999994 meters
Centerline goodness : 0.996547 with order 1
Centerline is valid?  [True, True]
Translation: X:29.92, Y:-0.33, Z:5.46
[[ 9.78251333e-01 -8.18961834e-02 -1.90571099e-01  2.99154379e+01]
 [ 8.39958605e-02  9.96461730e-01  2.95244114e-03 -3.28772038e-01]
 [ 1.89655013e-01 -1.88954129e-02  9.81668956e-01  5.46358604e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.784860623999993 meters
Centerline goodness : 0.996628 with order 1
Centerline is valid?  [True, True]
Translation: X:29.98, Y:-0.33, Z:5.47
[[ 9.78148981e-01 -8.31101854e-02 -1.90570899e-01  2.99762587e+01]
 [ 8.52349424e-02  9.96356468e-01  2.96530734e-03 -3.31466133e-01]
 [ 1.89630101e-01 -1.91438119e-02  9.81668956e-01  5.47453465e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.844860623999995 meters
Centerline goodness : 0.996755 with order 1
Centerline is valid?  [True, True]
Translation: X:30.04, Y:-0.33, Z:5.49
[[ 9.77967586e-01 -8.52184851e-02 -1.90570749e-01  3.00353951e+01]
 [ 8.73843334e-02  9.96170231e-01  2.97489322e-03 -3.33794574e-01]
 [ 1.89587391e-01 -1.95622470e-02  9.81668956e-01  5.48734627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.904860623999994 meters
Centerline goodness : 0.996768 with order 1
Centerline is valid?  [True, True]
Translation: X:30.10, Y:-0.34, Z:5.50
[[ 9.77832234e-01 -8.67578640e-02 -1.90570709e-01  3.00964917e+01]
 [ 8.89528610e-02  9.96031387e-01  2.97747362e-03 -3.36686538e-01]
 [ 1.89556088e-01 -1.98632795e-02  9.81668956e-01  5.49810150e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 30.964860623999993 meters
Centerline goodness : 0.996121 with order 1
Centerline is valid?  [True, True]
Translation: X:30.16, Y:-0.34, Z:5.51
[[ 9.77480446e-01 -9.06358555e-02 -1.90570509e-01  3.01555346e+01]
 [ 9.29054755e-02  9.95670443e-01  2.99019611e-03 -3.38299262e-01]
 [ 1.89474405e-01 -2.06279020e-02  9.81668956e-01  5.51162915e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.024860623999995 meters
Centerline goodness : 0.997246 with order 1
Centerline is valid?  [True, True]
Translation: X:30.21, Y:-0.34, Z:5.52
[[ 9.77009430e-01 -9.55795793e-02 -1.90570505e-01  3.02147686e+01]
 [ 9.79412490e-02  9.95187705e-01  2.99050299e-03 -3.43949662e-01]
 [ 1.89367592e-01 -2.15864629e-02  9.81668956e-01  5.52177079e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.084860623999994 meters
Centerline goodness : 0.997023 with order 1
Centerline is valid?  [True, True]
Translation: X:30.27, Y:-0.35, Z:5.53
[[ 9.76510668e-01 -1.00547515e-01 -1.90570490e-01  3.02743056e+01]
 [ 1.03001788e-01  9.94676673e-01  2.99142378e-03 -3.49373946e-01]
 [ 1.89255241e-01 -2.25502585e-02  9.81668956e-01  5.53075673e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.144860623999996 meters
Centerline goodness : 0.996837 with order 1
Centerline is valid?  [True, True]
Translation: X:30.33, Y:-0.35, Z:5.54
[[ 9.76257942e-01 -1.02972466e-01 -1.90570465e-01  3.03334728e+01]
 [ 1.05472153e-01  9.94417753e-01  2.99300578e-03 -3.51460703e-01]
 [ 1.89198457e-01 -2.30218228e-02  9.81668956e-01  5.54244440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.204860623999995 meters
Centerline goodness : 0.996976 with order 1
Centerline is valid?  [True, True]
Translation: X:30.39, Y:-0.36, Z:5.55
[[ 9.75882591e-01 -1.06470980e-01 -1.90570456e-01  3.03931385e+01]
 [ 1.09035858e-01  9.94033309e-01  2.99361648e-03 -3.57541807e-01]
 [ 1.89114647e-01 -2.37004314e-02  9.81668956e-01  5.55384552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.264860623999994 meters
Centerline goodness : 0.996196 with order 1
Centerline is valid?  [True, True]
Translation: X:30.45, Y:-0.36, Z:5.57
[[ 9.75714733e-01 -1.07998457e-01 -1.90570439e-01  3.04534422e+01]
 [ 1.10591946e-01  9.93861385e-01  2.99466657e-03 -3.62696413e-01]
 [ 1.89077181e-01 -2.39974959e-02  9.81668956e-01  5.56662751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.324860623999996 meters
Centerline goodness : 0.996516 with order 1
Centerline is valid?  [True, True]
Translation: X:30.51, Y:-0.37, Z:5.58
[[ 9.75699262e-01 -1.08138832e-01 -1.90570049e-01  3.05140323e+01]
 [ 1.10739664e-01  9.93844862e-01  3.01929074e-03 -3.68189561e-01]
 [ 1.89070562e-01 -2.40495830e-02  9.81668957e-01  5.57965809e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.384860623999995 meters
Centerline goodness : 0.996846 with order 1
Centerline is valid?  [True, True]
Translation: X:30.57, Y:-0.37, Z:5.59
[[ 9.76004964e-01 -1.05344421e-01 -1.90569840e-01  3.05734924e+01]
 [ 1.07895807e-01  9.94157583e-01  3.03242283e-03 -3.71458850e-01]
 [ 1.89137003e-01 -2.35213465e-02  9.81668957e-01  5.59196925e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.444860623999993 meters
Centerline goodness : 0.996931 with order 1
Centerline is valid?  [True, True]
Translation: X:30.63, Y:-0.38, Z:5.60
[[ 9.76439890e-01 -1.01233778e-01 -1.90569841e-01  3.06321507e+01]
 [ 1.03708694e-01  9.94603092e-01  3.03236515e-03 -3.75857518e-01]
 [ 1.89234375e-01 -2.27246717e-02  9.81668957e-01  5.60318021e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.504860623999996 meters
Centerline goodness : 0.996845 with order 1
Centerline is valid?  [True, True]
Translation: X:30.69, Y:-0.38, Z:5.61
[[ 9.76651014e-01 -9.91762644e-02 -1.90569845e-01  3.06910816e+01]
 [ 1.01612856e-01  9.94819398e-01  3.03210449e-03 -3.79433350e-01]
 [ 1.89281866e-01 -2.23256543e-02  9.81668957e-01  5.61492069e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.564860623999994 meters
Centerline goodness : 0.996432 with order 1
Centerline is valid?  [True, True]
Translation: X:30.75, Y:-0.38, Z:5.63
[[ 9.76847510e-01 -9.72217965e-02 -1.90569842e-01  3.07495977e+01]
 [ 9.96220648e-02  9.95020728e-01  3.03229043e-03 -3.82890867e-01]
 [ 1.89326138e-01 -2.19470465e-02  9.81668957e-01  5.62601434e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.624860623999993 meters
Centerline goodness : 0.996613 with order 1
Centerline is valid?  [True, True]
Translation: X:30.81, Y:-0.39, Z:5.64
[[ 9.77047624e-01 -9.51895832e-02 -1.90569892e-01  3.08089298e+01]
 [ 9.75514427e-02  9.95225874e-01  3.02917277e-03 -3.85813800e-01]
 [ 1.89371741e-01 -2.15500139e-02  9.81668957e-01  5.63816368e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.684860623999995 meters
Centerline goodness : 0.996377 with order 1
Centerline is valid?  [True, True]
Translation: X:30.87, Y:-0.39, Z:5.65
[[ 9.77223426e-01 -9.33674976e-02 -1.90569896e-01  3.08694306e+01]
 [ 9.56954069e-02  9.95406055e-01  3.02891973e-03 -3.90150276e-01]
 [ 1.89411626e-01 -2.11965950e-02  9.81668957e-01  5.64831394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.744860623999994 meters
Centerline goodness : 0.996558 with order 1
Centerline is valid?  [True, True]
Translation: X:30.93, Y:-0.39, Z:5.66
[[ 9.77109540e-01 -9.45522111e-02 -1.90569741e-01  3.09306915e+01]
 [ 9.69040302e-02  9.95289092e-01  3.03861529e-03 -3.94655771e-01]
 [ 1.89384677e-01 -2.14360360e-02  9.81668957e-01  5.66111015e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.804860623999993 meters
Centerline goodness : 0.996841 with order 1
Centerline is valid?  [True, True]
Translation: X:30.99, Y:-0.40, Z:5.67
[[ 9.76975013e-01 -9.59326646e-02 -1.90569535e-01  3.09898241e+01]
 [ 9.83126508e-02  9.95150899e-01  3.05151534e-03 -3.97987614e-01]
 [ 1.89352704e-01 -2.17166504e-02  9.81668957e-01  5.67261229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.864860623999995 meters
Centerline goodness : 0.996468 with order 1
Centerline is valid?  [True, True]
Translation: X:31.05, Y:-0.40, Z:5.69
[[ 9.76736011e-01 -9.83363399e-02 -1.90569484e-01  3.10498705e+01]
 [ 1.00761651e-01  9.94905904e-01  3.05467484e-03 -4.01673018e-01]
 [ 1.89298319e-01 -2.21857067e-02  9.81668957e-01  5.68556949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.924860623999994 meters
Centerline goodness : 0.996942 with order 1
Centerline is valid?  [True, True]
Translation: X:31.11, Y:-0.41, Z:5.70
[[ 9.76384254e-01 -1.01769818e-01 -1.90569392e-01  3.11083467e+01]
 [ 1.04260097e-01  9.94545357e-01  3.06039038e-03 -4.06484451e-01]
 [ 1.89218449e-01 -2.28569002e-02  9.81668957e-01  5.69508849e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 31.984860623999996 meters
Centerline goodness : 0.996814 with order 1
Centerline is valid?  [True, True]
Translation: X:31.17, Y:-0.41, Z:5.71
[[ 9.76145831e-01 -1.04031999e-01 -1.90569307e-01  3.11667628e+01]
 [ 1.06565379e-01  9.94300971e-01  3.06571926e-03 -4.08879169e-01]
 [ 1.89164314e-01 -2.33006794e-02  9.81668957e-01  5.70569712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.044860623999995 meters
Centerline goodness : 0.996842 with order 1
Centerline is valid?  [True, True]
Translation: X:31.23, Y:-0.41, Z:5.72
[[ 9.75859346e-01 -1.06685919e-01 -1.90569283e-01  3.12266287e+01]
 [ 1.09268932e-01  9.94007491e-01  3.06715626e-03 -4.12439252e-01]
 [ 1.89100073e-01 -2.38164152e-02  9.81668957e-01  5.71939579e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.104860624 meters
Centerline goodness : 0.996869 with order 1
Centerline is valid?  [True, True]
Translation: X:31.29, Y:-0.42, Z:5.73
[[ 9.75629111e-01 -1.08771436e-01 -1.90569178e-01  3.12857499e+01]
 [ 1.11394486e-01  9.93771513e-01  3.07368213e-03 -4.16749088e-01]
 [ 1.89047892e-01 -2.42271295e-02  9.81668957e-01  5.72821506e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.164860624 meters
Centerline goodness : 0.996621 with order 1
Centerline is valid?  [True, True]
Translation: X:31.35, Y:-0.42, Z:5.74
[[ 9.75548292e-01 -1.09494280e-01 -1.90568973e-01  3.13470477e+01]
 [ 1.12133204e-01  9.93688391e-01  3.08634256e-03 -4.18139588e-01]
 [ 1.89028239e-01 -2.43799858e-02  9.81668957e-01  5.73990302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.224860623999994 meters
Centerline goodness : 0.996913 with order 1
Centerline is valid?  [True, True]
Translation: X:31.41, Y:-0.42, Z:5.75
[[ 9.75520517e-01 -1.09741818e-01 -1.90568764e-01  3.14066516e+01]
 [ 1.12387821e-01  9.93659586e-01  3.09922620e-03 -4.20402261e-01]
 [ 1.89020364e-01 -2.44409669e-02  9.81668957e-01  5.75226772e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.284860624 meters
Centerline goodness : 0.997033 with order 1
Centerline is valid?  [True, True]
Translation: X:31.47, Y:-0.42, Z:5.76
[[ 9.75496677e-01 -1.09953805e-01 -1.90568608e-01  3.14665369e+01]
 [ 1.12605581e-01  9.93634902e-01  3.10876035e-03 -4.23380032e-01]
 [ 1.89013800e-01 -2.44916743e-02  9.81668957e-01  5.76232364e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.344860624 meters
Centerline goodness : 0.997166 with order 1
Centerline is valid?  [True, True]
Translation: X:31.53, Y:-0.42, Z:5.77
[[ 9.75496711e-01 -1.09953587e-01 -1.90568558e-01  3.15260126e+01]
 [ 1.12605953e-01  9.93634850e-01  3.11184950e-03 -4.23899605e-01]
 [ 1.89013401e-01 -2.44947529e-02  9.81668957e-01  5.77389322e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.404860624 meters
Centerline goodness : 0.996760 with order 1
Centerline is valid?  [True, True]
Translation: X:31.59, Y:-0.43, Z:5.78
[[ 9.75451243e-01 -1.10356402e-01 -1.90568458e-01  3.15861828e+01]
 [ 1.13017431e-01  9.93588113e-01  3.11796128e-03 -4.25138732e-01]
 [ 1.89002467e-01 -2.45789768e-02  9.81668957e-01  5.78393687e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.464860623999996 meters
Centerline goodness : 0.996534 with order 1
Centerline is valid?  [True, True]
Translation: X:31.65, Y:-0.43, Z:5.79
[[ 9.75558023e-01 -1.09408525e-01 -1.90568411e-01  3.16456232e+01]
 [ 1.12052484e-01  9.93697389e-01  3.12084133e-03 -4.25927013e-01]
 [ 1.89025885e-01 -2.43982255e-02  9.81668957e-01  5.79459189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.524860624 meters
Centerline goodness : 0.996277 with order 1
Centerline is valid?  [True, True]
Translation: X:31.70, Y:-0.43, Z:5.81
[[ 9.75622230e-01 -1.08834483e-01 -1.90568411e-01  3.17044068e+01]
 [ 1.11467768e-01  9.93763149e-01  3.12084133e-03 -4.25657447e-01]
 [ 1.89040209e-01 -2.42869975e-02  9.81668957e-01  5.80916359e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.584860624 meters
Centerline goodness : 0.996000 with order 1
Centerline is valid?  [True, True]
Translation: X:31.76, Y:-0.43, Z:5.82
[[ 9.75640522e-01 -1.08670389e-01 -1.90568411e-01  3.17649876e+01]
 [ 1.11300623e-01  9.93781883e-01  3.12084133e-03 -4.25899084e-01]
 [ 1.89044291e-01 -2.42552020e-02  9.81668957e-01  5.82190157e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.644860623999996 meters
Centerline goodness : 0.996172 with order 1
Centerline is valid?  [True, True]
Translation: X:31.83, Y:-0.43, Z:5.83
[[ 9.75628043e-01 -1.08782752e-01 -1.90568191e-01  3.18263009e+01]
 [ 1.11417639e-01  9.93768729e-01  3.13418661e-03 -4.27179516e-01]
 [ 1.89039764e-01 -2.42904583e-02  9.81668957e-01  5.83256771e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.704860624 meters
Centerline goodness : 0.996408 with order 1
Centerline is valid?  [True, True]
Translation: X:31.89, Y:-0.42, Z:5.84
[[ 9.75936949e-01 -1.05976025e-01 -1.90567975e-01  3.18851709e+01]
 [ 1.08561236e-01  9.94084781e-01  3.14726403e-03 -4.24358990e-01]
 [ 1.89107189e-01 -2.37598261e-02  9.81668957e-01  5.84455808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.764860624 meters
Centerline goodness : 0.996029 with order 1
Centerline is valid?  [True, True]
Translation: X:31.94, Y:-0.42, Z:5.86
[[ 9.76602733e-01 -9.96541500e-02 -1.90567975e-01  3.19447489e+01]
 [ 1.02121791e-01  9.94766925e-01  3.14726403e-03 -4.21879864e-01]
 [ 1.89257081e-01 -2.25347696e-02  9.81668957e-01  5.85619377e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.824860623999996 meters
Centerline goodness : 0.995643 with order 1
Centerline is valid?  [True, True]
Translation: X:32.00, Y:-0.42, Z:5.87
[[ 9.77755916e-01 -8.76198026e-02 -1.90567936e-01  3.20032839e+01]
 [ 8.98640219e-02  9.95949064e-01  3.14963141e-03 -4.16151023e-01]
 [ 1.89519987e-01 -2.02047719e-02  9.81668957e-01  5.86731390e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.884860624 meters
Centerline goodness : 0.995257 with order 1
Centerline is valid?  [True, True]
Translation: X:32.06, Y:-0.41, Z:5.88
[[ 9.78927053e-01 -7.33872193e-02 -1.90567942e-01  3.20626382e+01]
 [ 7.53664756e-02  9.97150930e-01  3.14925998e-03 -4.09920297e-01]
 [ 1.89793885e-01 -1.74453300e-02  9.81668957e-01  5.87987657e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 32.944860624 meters
Centerline goodness : 0.995314 with order 1
Centerline is valid?  [True, True]
Translation: X:32.12, Y:-0.41, Z:5.89
[[ 9.79516031e-01 -6.50554683e-02 -1.90567915e-01  3.21223348e+01]
 [ 6.68799114e-02  9.97756057e-01  3.15088655e-03 -4.05515960e-01]
 [ 1.89935309e-01 -1.58315092e-02  9.81668957e-01  5.89217192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.004860623999996 meters
Centerline goodness : 0.995023 with order 1
Centerline is valid?  [True, True]
Translation: X:32.18, Y:-0.40, Z:5.90
[[ 9.79914622e-01 -5.87470084e-02 -1.90567895e-01  3.21812653e+01]
 [ 6.04542050e-02  9.98165995e-01  3.15212270e-03 -4.01513009e-01]
 [ 1.90033214e-01 -1.46094417e-02  9.81668957e-01  5.90289043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.064860624 meters
Centerline goodness : 0.995497 with order 1
Centerline is valid?  [True, True]
Translation: X:32.24, Y:-0.40, Z:5.91
[[ 9.80243138e-01 -5.29836476e-02 -1.90567898e-01  3.22408428e+01]
 [ 5.45834487e-02  9.98504238e-01  3.15191766e-03 -3.95914024e-01]
 [ 1.90115854e-01 -1.34914987e-02  9.81668957e-01  5.91333532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.124860624 meters
Centerline goodness : 0.995433 with order 1
Centerline is valid?  [True, True]
Translation: X:32.30, Y:-0.39, Z:5.92
[[ 9.80348573e-01 -5.09955842e-02 -1.90567903e-01  3.22989394e+01]
 [ 5.25582890e-02  9.98612885e-01  3.15161263e-03 -3.90494873e-01]
 [ 1.90142845e-01 -1.31056019e-02  9.81668957e-01  5.92318717e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.184860623999995 meters
Centerline goodness : 0.995081 with order 1
Centerline is valid?  [True, True]
Translation: X:32.36, Y:-0.39, Z:5.93
[[ 9.80406794e-01 -4.98633510e-02 -1.90568004e-01  3.23564031e+01]
 [ 5.14037827e-02  9.98672998e-01  3.14552044e-03 -3.87680273e-01]
 [ 1.90158273e-01 -1.28798059e-02  9.81668957e-01  5.92967891e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.244860624 meters
Centerline goodness : 0.995465 with order 1
Centerline is valid?  [True, True]
Translation: X:32.41, Y:-0.38, Z:5.94
[[ 9.80323380e-01 -5.14763487e-02 -1.90568243e-01  3.24130315e+01]
 [ 5.30440132e-02  9.98587267e-01  3.13095208e-03 -3.83542820e-01]
 [ 1.90137851e-01 -1.31778499e-02  9.81668957e-01  5.94429987e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.304860624 meters
Centerline goodness : 0.995432 with order 1
Centerline is valid?  [True, True]
Translation: X:32.47, Y:-0.38, Z:5.96
[[ 9.80216404e-01 -5.34734061e-02 -1.90568612e-01  3.24709559e+01]
 [ 5.50739044e-02  9.98477443e-01  3.10835438e-03 -3.78462050e-01]
 [ 1.90112246e-01 -1.35422175e-02  9.81668958e-01  5.95548672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.364860623999995 meters
Centerline goodness : 0.995712 with order 1
Centerline is valid?  [True, True]
Translation: X:32.53, Y:-0.37, Z:5.96
[[ 9.80129978e-01 -5.50324566e-02 -1.90569292e-01  3.25295774e+01]
 [ 5.66538260e-02  9.98389174e-01  3.06609933e-03 -3.74761749e-01]
 [ 1.90093583e-01 -1.38016554e-02  9.81668958e-01  5.96495609e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.424860624 meters
Centerline goodness : 0.995539 with order 1
Centerline is valid?  [True, True]
Translation: X:32.59, Y:-0.37, Z:5.98
[[ 9.80091255e-01 -5.57178499e-02 -1.90569286e-01  3.25875032e+01]
 [ 5.73520546e-02  9.98349307e-01  3.06644554e-03 -3.72612828e-01]
 [ 1.90083859e-01 -1.39349366e-02  9.81668958e-01  5.97518140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.484860624 meters
Centerline goodness : 0.995513 with order 1
Centerline is valid?  [True, True]
Translation: X:32.65, Y:-0.37, Z:5.99
[[ 9.80096235e-01 -5.56279918e-02 -1.90569927e-01  3.26463034e+01]
 [ 5.72527193e-02  9.98355132e-01  3.02609938e-03 -3.69541411e-01]
 [ 1.90088129e-01 -1.38765151e-02  9.81668959e-01  5.98908073e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.544860623999995 meters
Centerline goodness : 0.995626 with order 1
Centerline is valid?  [True, True]
Translation: X:32.70, Y:-0.37, Z:6.00
[[ 9.80117487e-01 -5.52522755e-02 -1.90569927e-01  3.27048193e+01]
 [ 5.68700035e-02  9.98377006e-01  3.02609938e-03 -3.66023900e-01]
 [ 1.90093434e-01 -1.38036453e-02  9.81668959e-01  5.99897993e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.604860624 meters
Centerline goodness : 0.995262 with order 1
Centerline is valid?  [True, True]
Translation: X:32.76, Y:-0.36, Z:6.01
[[ 9.80193511e-01 -5.38865938e-02 -1.90569976e-01  3.27629980e+01]
 [ 5.54782844e-02  9.98455318e-01  3.02302724e-03 -3.62774590e-01]
 [ 1.90112705e-01 -1.35356470e-02  9.81668959e-01  6.00648701e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.664860624 meters
Centerline goodness : 0.995784 with order 1
Centerline is valid?  [True, True]
Translation: X:32.82, Y:-0.36, Z:6.02
[[ 9.80209104e-01 -5.36017219e-02 -1.90570111e-01  3.28193728e+01]
 [ 5.51864526e-02  9.98471516e-01  3.01448530e-03 -3.58071701e-01]
 [ 1.90117246e-01 -1.34717143e-02  9.81668959e-01  6.01894785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.724860623999994 meters
Centerline goodness : 0.995324 with order 1
Centerline is valid?  [True, True]
Translation: X:32.88, Y:-0.36, Z:6.03
[[ 9.80170485e-01 -5.43022092e-02 -1.90570436e-01  3.28772747e+01]
 [ 5.58959840e-02  9.98432109e-01  2.99377202e-03 -3.55707061e-01]
 [ 1.90109074e-01 -1.35865290e-02  9.81668960e-01  6.03164587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.784860624 meters
Centerline goodness : 0.995031 with order 1
Centerline is valid?  [True, True]
Translation: X:32.94, Y:-0.35, Z:6.04
[[ 9.80042494e-01 -5.65647330e-02 -1.90570564e-01  3.29357891e+01]
 [ 5.81990800e-02  9.98300533e-01  2.98560528e-03 -3.53933783e-01]
 [ 1.90077816e-01 -1.40170516e-02  9.81668960e-01  6.04396141e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.844860624 meters
Centerline goodness : 0.995505 with order 1
Centerline is valid?  [True, True]
Translation: X:32.99, Y:-0.35, Z:6.06
[[ 9.79995344e-01 -5.73755031e-02 -1.90570660e-01  3.29948154e+01]
 [ 5.90237649e-02  9.98252131e-01  2.97945401e-03 -3.51897143e-01]
 [ 1.90066620e-01 -1.41680489e-02  9.81668960e-01  6.05671500e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.904860623999994 meters
Centerline goodness : 0.995312 with order 1
Centerline is valid?  [True, True]
Translation: X:33.05, Y:-0.35, Z:6.07
[[ 9.79807642e-01 -6.04963718e-02 -1.90570652e-01  3.30545378e+01]
 [ 6.22028692e-02  9.98059078e-01  2.97996344e-03 -3.49302355e-01]
 [ 1.90020493e-01 -1.47738323e-02  9.81668960e-01  6.06689725e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 33.964860623999996 meters
Centerline goodness : 0.995566 with order 1
Centerline is valid?  [True, True]
Translation: X:33.11, Y:-0.35, Z:6.08
[[ 9.79467181e-01 -6.57790697e-02 -1.90570604e-01  3.31144521e+01]
 [ 6.75845621e-02  9.97709090e-01  2.98306655e-03 -3.47067788e-01]
 [ 1.89937800e-01 -1.58014466e-02  9.81668960e-01  6.07727638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.024860624 meters
Centerline goodness : 0.995508 with order 1
Centerline is valid?  [True, True]
Translation: X:33.17, Y:-0.35, Z:6.09
[[ 9.79207087e-01 -6.95437244e-02 -1.90570593e-01  3.31748858e+01]
 [ 7.14194661e-02  9.97441907e-01  2.98378859e-03 -3.46046243e-01]
 [ 1.89875591e-01 -1.65321969e-02  9.81668960e-01  6.08792338e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.084860624 meters
Centerline goodness : 0.996257 with order 1
Centerline is valid?  [True, True]
Translation: X:33.23, Y:-0.34, Z:6.10
[[ 9.78955657e-01 -7.29979538e-02 -1.90570513e-01  3.32336257e+01]
 [ 7.49389982e-02  9.97183641e-01  2.98887219e-03 -3.44222399e-01]
 [ 1.89815616e-01 -1.72071367e-02  9.81668960e-01  6.09892492e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.144860623999996 meters
Centerline goodness : 0.996303 with order 1
Centerline is valid?  [True, True]
Translation: X:33.29, Y:-0.34, Z:6.11
[[ 9.78907762e-01 -7.36374456e-02 -1.90570513e-01  3.32920213e+01]
 [ 7.55903971e-02  9.97134474e-01  2.98887219e-03 -3.41884852e-01]
 [ 1.89804335e-01 -1.73311309e-02  9.81668960e-01  6.11197759e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.204860624 meters
Centerline goodness : 0.995927 with order 1
Centerline is valid?  [True, True]
Translation: X:33.35, Y:-0.34, Z:6.13
[[ 9.79028059e-01 -7.20206201e-02 -1.90570434e-01  3.33512515e+01]
 [ 7.39444333e-02  9.97257869e-01  2.99387951e-03 -3.36334766e-01]
 [ 1.89832244e-01 -1.70227148e-02  9.81668960e-01  6.12747350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.264860624 meters
Centerline goodness : 0.996393 with order 1
Centerline is valid?  [True, True]
Translation: X:33.41, Y:-0.33, Z:6.14
[[ 9.79224272e-01 -6.93019056e-02 -1.90570383e-01  3.34100857e+01]
 [ 7.11757204e-02  9.97459289e-01  2.99712582e-03 -3.34039768e-01]
 [ 1.89878492e-01 -1.64988427e-02  9.81668960e-01  6.13653314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.324860623999996 meters
Centerline goodness : 0.996179 with order 1
Centerline is valid?  [True, True]
Translation: X:33.47, Y:-0.33, Z:6.15
[[ 9.79191196e-01 -6.97675751e-02 -1.90570424e-01  3.34704489e+01]
 [ 7.16495596e-02  9.97425372e-01  2.99452792e-03 -3.32467183e-01]
 [ 1.89870855e-01 -1.65865023e-02  9.81668960e-01  6.15028882e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.384860624 meters
Centerline goodness : 0.995576 with order 1
Centerline is valid?  [True, True]
Translation: X:33.53, Y:-0.33, Z:6.16
[[ 9.79100725e-01 -7.10264707e-02 -1.90570223e-01  3.35311797e+01]
 [ 7.29343566e-02  9.97332209e-01  3.00726144e-03 -3.28999655e-01]
 [ 1.89848226e-01 -1.68435285e-02  9.81668960e-01  6.16126299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.444860624 meters
Centerline goodness : 0.995911 with order 1
Centerline is valid?  [True, True]
Translation: X:33.59, Y:-0.33, Z:6.17
[[ 9.78966856e-01 -7.28487554e-02 -1.90570074e-01  3.35904584e+01]
 [ 7.47923951e-02  9.97194563e-01  3.01670168e-03 -3.28867856e-01]
 [ 1.89815678e-01 -1.72064432e-02  9.81668960e-01  6.17062145e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.504860623999996 meters
Centerline goodness : 0.995750 with order 1
Centerline is valid?  [True, True]
Translation: X:33.65, Y:-0.33, Z:6.18
[[ 9.78813557e-01 -7.48802466e-02 -1.90570115e-01  3.36509801e+01]
 [ 7.68612096e-02  9.97037246e-01  3.01410900e-03 -3.28442774e-01]
 [ 1.89779805e-01 -1.75977003e-02  9.81668960e-01  6.18328952e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.564860624 meters
Centerline goodness : 0.995991 with order 1
Centerline is valid?  [True, True]
Translation: X:33.71, Y:-0.33, Z:6.20
[[ 9.78727330e-01 -7.59994776e-02 -1.90569916e-01  3.37105108e+01]
 [ 7.80036933e-02  9.96948476e-01  3.02662180e-03 -3.27795994e-01]
 [ 1.89758366e-01 -1.78273947e-02  9.81668960e-01  6.19558892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.624860624 meters
Centerline goodness : 0.995914 with order 1
Centerline is valid?  [True, True]
Translation: X:33.77, Y:-0.33, Z:6.21
[[ 9.78557498e-01 -7.81559347e-02 -1.90569865e-01  3.37697110e+01]
 [ 8.02009110e-02  9.96774114e-01  3.02980905e-03 -3.29248659e-01]
 [ 1.89718311e-01 -1.82487192e-02  9.81668960e-01  6.20676428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.684860623999995 meters
Centerline goodness : 0.996343 with order 1
Centerline is valid?  [True, True]
Translation: X:33.83, Y:-0.33, Z:6.22
[[ 9.78437684e-01 -7.96418708e-02 -1.90569861e-01  3.38300267e+01]
 [ 8.17145648e-02  9.96651167e-01  3.03010157e-03 -3.30834162e-01]
 [ 1.89690351e-01 -1.85370988e-02  9.81668960e-01  6.21914589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.744860624 meters
Centerline goodness : 0.995918 with order 1
Centerline is valid?  [True, True]
Translation: X:33.89, Y:-0.33, Z:6.23
[[ 9.78333590e-01 -8.09107787e-02 -1.90569758e-01  3.38910470e+01]
 [ 8.30083330e-02  9.96544227e-01  3.03653153e-03 -3.30472215e-01]
 [ 1.89665504e-01 -1.87896187e-02  9.81668960e-01  6.23302635e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.804860624 meters
Centerline goodness : 0.996181 with order 1
Centerline is valid?  [True, True]
Translation: X:33.95, Y:-0.33, Z:6.24
[[ 9.78240963e-01 -8.20235669e-02 -1.90569546e-01  3.39500723e+01]
 [ 8.41443914e-02  9.96448905e-01  3.04979013e-03 -3.33560067e-01]
 [ 1.89642661e-01 -1.90187881e-02  9.81668960e-01  6.24185751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.864860623999995 meters
Centerline goodness : 0.996669 with order 1
Centerline is valid?  [True, True]
Translation: X:34.01, Y:-0.34, Z:6.25
[[ 9.78105549e-01 -8.36228681e-02 -1.90569546e-01  3.40098929e+01]
 [ 8.57734595e-02  9.96309998e-01  3.04979013e-03 -3.37172612e-01]
 [ 1.89611312e-01 -1.93288259e-02  9.81668960e-01  6.25429013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.924860624 meters
Centerline goodness : 0.996835 with order 1
Centerline is valid?  [True, True]
Translation: X:34.07, Y:-0.34, Z:6.27
[[ 9.78010708e-01 -8.47250867e-02 -1.90569451e-01  3.40695223e+01]
 [ 8.68973364e-02  9.96212585e-01  3.05572470e-03 -3.38424978e-01]
 [ 1.89588789e-01 -1.95485092e-02  9.81668960e-01  6.26743481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 34.984860624 meters
Centerline goodness : 0.997045 with order 1
Centerline is valid?  [True, True]
Translation: X:34.13, Y:-0.34, Z:6.28
[[ 9.78043755e-01 -8.43427739e-02 -1.90569434e-01  3.41289039e+01]
 [ 8.65081127e-02  9.96246457e-01  3.05678472e-03 -3.42112396e-01]
 [ 1.89596306e-01 -1.94754713e-02  9.81668960e-01  6.28082422e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.044860623999995 meters
Centerline goodness : 0.997031 with order 1
Centerline is valid?  [True, True]
Translation: X:34.19, Y:-0.35, Z:6.30
[[ 9.77956449e-01 -8.53493605e-02 -1.90569330e-01  3.41888382e+01]
 [ 8.75346743e-02  9.96156763e-01  3.06322414e-03 -3.46076951e-01]
 [ 1.89575483e-01 -1.96771241e-02  9.81668960e-01  6.29502942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.104860624 meters
Centerline goodness : 0.997071 with order 1
Centerline is valid?  [True, True]
Translation: X:34.25, Y:-0.35, Z:6.31
[[ 9.77691253e-01 -8.83357541e-02 -1.90569169e-01  3.42482676e+01]
 [ 9.05785726e-02  9.95884570e-01  3.07323406e-03 -3.50316134e-01]
 [ 1.89513418e-01 -2.02661574e-02  9.81668960e-01  6.30741149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.164860624 meters
Centerline goodness : 0.997532 with order 1
Centerline is valid?  [True, True]
Translation: X:34.31, Y:-0.36, Z:6.32
[[ 9.77305269e-01 -9.25084158e-02 -1.90569160e-01  3.43074437e+01]
 [ 9.48289825e-02  9.95488833e-01  3.07378874e-03 -3.58345102e-01]
 [ 1.89425119e-01 -2.10755095e-02  9.81668960e-01  6.31712895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.224860623999994 meters
Centerline goodness : 0.997541 with order 1
Centerline is valid?  [True, True]
Translation: X:34.37, Y:-0.36, Z:6.33
[[ 9.77061619e-01 -9.50475156e-02 -1.90569050e-01  3.43668935e+01]
 [ 9.74166343e-02  9.95238921e-01  3.08060308e-03 -3.63433791e-01]
 [ 1.89368932e-01 -2.15745345e-02  9.81668960e-01  6.32823419e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.284860624 meters
Centerline goodness : 0.997620 with order 1
Centerline is valid?  [True, True]
Translation: X:34.43, Y:-0.37, Z:6.34
[[ 9.77093570e-01 -9.47185574e-02 -1.90569018e-01  3.44275336e+01]
 [ 9.70819386e-02  9.95271619e-01  3.08258937e-03 -3.66595050e-01]
 [ 1.89375956e-01 -2.15127879e-02  9.81668960e-01  6.34134638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.344860624 meters
Centerline goodness : 0.997829 with order 1
Centerline is valid?  [True, True]
Translation: X:34.49, Y:-0.37, Z:6.35
[[ 9.77077010e-01 -9.48896518e-02 -1.90568805e-01  3.44887902e+01]
 [ 9.72587328e-02  9.95254317e-01  3.09566036e-03 -3.69675514e-01]
 [ 1.89370680e-01 -2.15591791e-02  9.81668960e-01  6.35361988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.404860623999994 meters
Centerline goodness : 0.997637 with order 1
Centerline is valid?  [True, True]
Translation: X:34.55, Y:-0.38, Z:6.37
[[ 9.77188176e-01 -9.37383649e-02 -1.90568590e-01  3.45500926e+01]
 [ 9.60885662e-02  9.95367933e-01  3.10884482e-03 -3.77520303e-01]
 [ 1.89394446e-01 -2.13493890e-02  9.81668960e-01  6.36528802e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.464860623999996 meters
Centerline goodness : 0.997746 with order 1
Centerline is valid?  [True, True]
Translation: X:34.61, Y:-0.38, Z:6.38
[[ 9.77158663e-01 -9.40459595e-02 -1.90568375e-01  3.46108989e+01]
 [ 9.64044175e-02  9.95337351e-01  3.12200560e-03 -3.80904374e-01]
 [ 1.89386209e-01 -2.14223280e-02  9.81668960e-01  6.37693906e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.524860624 meters
Centerline goodness : 0.997960 with order 1
Centerline is valid?  [True, True]
Translation: X:34.67, Y:-0.39, Z:6.39
[[ 9.77284291e-01 -9.27318170e-02 -1.90568162e-01  3.46718756e+01]
 [ 9.50683164e-02  9.95465814e-01  3.13493333e-03 -3.85178865e-01]
 [ 1.89413383e-01 -2.11807154e-02  9.81668960e-01  6.38737998e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.584860623999994 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:34.73, Y:-0.39, Z:6.40
[[ 9.77409706e-01 -9.14007800e-02 -1.90568002e-01  3.47321355e+01]
 [ 9.37143839e-02  9.95594157e-01  3.14463039e-03 -3.89424103e-01]
 [ 1.89440968e-01 -2.09325552e-02  9.81668960e-01  6.39802062e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.644860623999996 meters
Centerline goodness : 0.998190 with order 1
Centerline is valid?  [True, True]
Translation: X:34.79, Y:-0.39, Z:6.41
[[ 9.77705727e-01 -8.81780961e-02 -1.90567928e-01  3.47907055e+01]
 [ 9.04326073e-02  9.95897598e-01  3.14913365e-03 -3.91970865e-01]
 [ 1.89508457e-01 -2.03124806e-02  9.81668960e-01  6.41191681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.704860624 meters
Centerline goodness : 0.998217 with order 1
Centerline is valid?  [True, True]
Translation: X:34.85, Y:-0.40, Z:6.42
[[ 9.78110853e-01 -8.35644903e-02 -1.90567926e-01  3.48491763e+01]
 [ 8.57331653e-02  9.96313157e-01  3.14920982e-03 -3.95211662e-01]
 [ 1.89602170e-01 -1.94182678e-02  9.81668960e-01  6.42299977e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.764860624 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:34.91, Y:-0.40, Z:6.43
[[ 9.78342596e-01 -8.08060392e-02 -1.90567962e-01  3.49083122e+01]
 [ 8.29229573e-02  9.96550992e-01  3.14702861e-03 -3.99135872e-01]
 [ 1.89656393e-01 -1.88813312e-02  9.81668960e-01  6.43447230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.824860623999996 meters
Centerline goodness : 0.998374 with order 1
Centerline is valid?  [True, True]
Translation: X:34.97, Y:-0.40, Z:6.45
[[ 9.78314533e-01 -8.11450833e-02 -1.90567967e-01  3.49669667e+01]
 [ 8.32682595e-02  9.96522200e-01  3.14675917e-03 -4.02564896e-01]
 [ 1.89649866e-01 -1.89467832e-02  9.81668960e-01  6.44607046e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.884860624 meters
Centerline goodness : 0.998858 with order 1
Centerline is valid?  [True, True]
Translation: X:35.03, Y:-0.41, Z:6.45
[[ 9.77978516e-01 -8.50991913e-02 -1.90567967e-01  3.50270819e+01]
 [ 8.72959535e-02  9.96177451e-01  3.14675917e-03 -4.09691109e-01]
 [ 1.89571725e-01 -1.97132752e-02  9.81668960e-01  6.45397080e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 35.944860624 meters
Centerline goodness : 0.998737 with order 1
Centerline is valid?  [True, True]
Translation: X:35.09, Y:-0.41, Z:6.47
[[ 9.77950207e-01 -8.54239265e-02 -1.90567957e-01  3.50879668e+01]
 [ 8.76268444e-02  9.96148398e-01  3.14734476e-03 -4.11123759e-01]
 [ 1.89565107e-01 -1.97768152e-02  9.81668960e-01  6.46553866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.004860623999996 meters
Centerline goodness : 0.998589 with order 1
Centerline is valid?  [True, True]
Translation: X:35.15, Y:-0.41, Z:6.48
[[ 9.77931888e-01 -8.56338430e-02 -1.90567751e-01  3.51493455e+01]
 [ 8.78430596e-02  9.96129315e-01  3.15975652e-03 -4.12508721e-01]
 [ 1.89559542e-01 -1.98300810e-02  9.81668961e-01  6.47861740e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.064860624 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:35.21, Y:-0.42, Z:6.49
[[ 9.77835612e-01 -8.67268800e-02 -1.90567477e-01  3.52090720e+01]
 [ 8.89596032e-02  9.96030171e-01  3.17619229e-03 -4.16047013e-01]
 [ 1.89535496e-01 -2.00586011e-02  9.81668961e-01  6.48991773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.124860624 meters
Centerline goodness : 0.998483 with order 1
Centerline is valid?  [True, True]
Translation: X:35.27, Y:-0.42, Z:6.50
[[ 9.77677403e-01 -8.84925791e-02 -1.90567468e-01  3.52694169e+01]
 [ 9.07582646e-02  9.95867886e-01  3.17675811e-03 -4.20717028e-01]
 [ 1.89498902e-01 -2.04014173e-02  9.81668961e-01  6.50316137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.184860623999995 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:35.33, Y:-0.42, Z:6.52
[[ 9.77521402e-01 -9.01998313e-02 -1.90567306e-01  3.53287642e+01]
 [ 9.24991477e-02  9.95707665e-01  3.18644977e-03 -4.24606289e-01]
 [ 1.89461910e-01 -2.07421362e-02  9.81668961e-01  6.51597963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.244860624 meters
Centerline goodness : 0.998566 with order 1
Centerline is valid?  [True, True]
Translation: X:35.39, Y:-0.43, Z:6.53
[[ 9.77439164e-01 -9.10866951e-02 -1.90567297e-01  3.53900864e+01]
 [ 9.34026173e-02  9.95623319e-01  3.18700286e-03 -4.29478375e-01]
 [ 1.89442951e-01 -2.09145857e-02  9.81668961e-01  6.52506726e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.304860624 meters
Centerline goodness : 0.998715 with order 1
Centerline is valid?  [True, True]
Translation: X:35.45, Y:-0.43, Z:6.54
[[ 9.77558334e-01 -8.97991753e-02 -1.90567077e-01  3.54508541e+01]
 [ 9.20936635e-02  9.95745207e-01  3.20008022e-03 -4.32677675e-01]
 [ 1.89468889e-01 -2.06782854e-02  9.81668961e-01  6.53658002e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.364860623999995 meters
Centerline goodness : 0.998744 with order 1
Centerline is valid?  [True, True]
Translation: X:35.51, Y:-0.44, Z:6.55
[[ 9.77982750e-01 -8.50530023e-02 -1.90566859e-01  3.55105949e+01]
 [ 8.72616825e-02  9.96180242e-01  3.21304461e-03 -4.35686611e-01]
 [ 1.89565660e-01 -1.97714869e-02  9.81668961e-01  6.54765774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.424860624 meters
Centerline goodness : 0.998838 with order 1
Centerline is valid?  [True, True]
Translation: X:35.57, Y:-0.44, Z:6.56
[[ 9.78421434e-01 -7.98485348e-02 -1.90566810e-01  3.55697970e+01]
 [ 8.19609268e-02  9.96630355e-01  3.21595339e-03 -4.36810100e-01]
 [ 1.89667878e-01 -1.87655901e-02  9.81668961e-01  6.55818822e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.484860624 meters
Centerline goodness : 0.999127 with order 1
Centerline is valid?  [True, True]
Translation: X:35.63, Y:-0.44, Z:6.57
[[ 9.78962762e-01 -7.29122064e-02 -1.90566842e-01  3.56288004e+01]
 [ 7.48951216e-02  9.97186237e-01  3.21402389e-03 -4.38165687e-01]
 [ 1.89796291e-01 -1.74189365e-02  9.81668961e-01  6.56953882e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.544860623999995 meters
Centerline goodness : 0.998229 with order 1
Centerline is valid?  [True, True]
Translation: X:35.69, Y:-0.44, Z:6.58
[[ 9.79087735e-01 -7.12143526e-02 -1.90566846e-01  3.56891837e+01]
 [ 7.31656197e-02  9.97314626e-01  3.21380886e-03 -4.42201782e-01]
 [ 1.89826233e-01 -1.70895422e-02  9.81668961e-01  6.58013540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.604860624 meters
Centerline goodness : 0.998721 with order 1
Centerline is valid?  [True, True]
Translation: X:35.75, Y:-0.45, Z:6.59
[[ 9.78433814e-01 -7.96969800e-02 -1.90566687e-01  3.57481779e+01]
 [ 8.18079429e-02  9.96642901e-01  3.22316734e-03 -4.45463231e-01]
 [ 1.89670059e-01 -1.87435246e-02  9.81668961e-01  6.59403810e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.664860624 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:35.81, Y:-0.45, Z:6.60
[[ 9.77565027e-01 -8.97271531e-02 -1.90566670e-01  3.58073513e+01]
 [ 9.20249505e-02  9.95751482e-01  3.22421328e-03 -4.53302776e-01]
 [ 1.89467744e-01 -2.06887665e-02  9.81668961e-01  6.60481638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.724860623999994 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:35.87, Y:-0.46, Z:6.62
[[ 9.77233931e-01 -9.32641046e-02 -1.90566660e-01  3.58667225e+01]
 [ 9.56278113e-02  9.95411936e-01  3.22479828e-03 -4.58560247e-01]
 [ 1.89391570e-01 -2.13748549e-02  9.81668961e-01  6.61541027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.784860624 meters
Centerline goodness : 0.998821 with order 1
Centerline is valid?  [True, True]
Translation: X:35.93, Y:-0.46, Z:6.63
[[ 9.76929395e-01 -9.64018108e-02 -1.90566649e-01  3.59256039e+01]
 [ 9.88240048e-02  9.95099700e-01  3.22544518e-03 -4.64754266e-01]
 [ 1.89321876e-01 -2.19835916e-02  9.81668961e-01  6.62606443e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.844860624 meters
Centerline goodness : 0.998640 with order 1
Centerline is valid?  [True, True]
Translation: X:35.98, Y:-0.47, Z:6.64
[[ 9.76787493e-01 -9.78292624e-02 -1.90566601e-01  3.59847897e+01]
 [ 1.00278544e-01  9.94954166e-01  3.22824177e-03 -4.69196410e-01]
 [ 1.89289218e-01 -2.22630475e-02  9.81668961e-01  6.63915067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.904860623999994 meters
Centerline goodness : 0.998836 with order 1
Centerline is valid?  [True, True]
Translation: X:36.04, Y:-0.48, Z:6.65
[[ 9.76498689e-01 -1.00671251e-01 -1.90566546e-01  3.60444694e+01]
 [ 1.03174011e-01  9.94658072e-01  3.23148752e-03 -4.76987944e-01]
 [ 1.89223236e-01 -2.28170582e-02  9.81668961e-01  6.65178571e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 36.964860623999996 meters
Centerline goodness : 0.998528 with order 1
Centerline is valid?  [True, True]
Translation: X:36.10, Y:-0.48, Z:6.66
[[ 9.76546760e-01 -1.00203979e-01 -1.90566492e-01  3.61045328e+01]
 [ 1.02698662e-01  9.94707254e-01  3.23467624e-03 -4.83339554e-01]
 [ 1.89233745e-01 -2.27297364e-02  9.81668961e-01  6.66475057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.024860624 meters
Centerline goodness : 0.998600 with order 1
Centerline is valid?  [True, True]
Translation: X:36.16, Y:-0.49, Z:6.68
[[ 9.76854873e-01 -9.71545665e-02 -1.90566386e-01  3.61643944e+01]
 [ 9.95937455e-02  9.95022905e-01  3.24095218e-03 -4.89266123e-01]
 [ 1.89303045e-01 -2.21451600e-02  9.81668961e-01  6.67630988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.084860623999994 meters
Centerline goodness : 0.998441 with order 1
Centerline is valid?  [True, True]
Translation: X:36.22, Y:-0.49, Z:6.69
[[ 9.77173659e-01 -9.38941486e-02 -1.90566336e-01  3.62234645e+01]
 [ 9.62732462e-02  9.95349657e-01  3.24386620e-03 -4.92713539e-01]
 [ 1.89375557e-01 -2.15162604e-02  9.81668961e-01  6.68747600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.144860623999996 meters
Centerline goodness : 0.998405 with order 1
Centerline is valid?  [True, True]
Translation: X:36.28, Y:-0.50, Z:6.70
[[ 9.77623328e-01 -8.90904035e-02 -1.90566337e-01  3.62829504e+01]
 [ 9.13801332e-02  9.95810800e-01  3.24382523e-03 -4.97425983e-01]
 [ 1.89479022e-01 -2.05852164e-02  9.81668961e-01  6.69985003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.204860624 meters
Centerline goodness : 0.998525 with order 1
Centerline is valid?  [True, True]
Translation: X:36.34, Y:-0.50, Z:6.71
[[ 9.77779983e-01 -8.73544177e-02 -1.90566289e-01  3.63414391e+01]
 [ 8.96123917e-02  9.95971425e-01  3.24663395e-03 -5.01452383e-01]
 [ 1.89514970e-01 -2.02515946e-02  9.81668961e-01  6.71056645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.26486062399999 meters
Centerline goodness : 0.998146 with order 1
Centerline is valid?  [True, True]
Translation: X:36.40, Y:-0.51, Z:6.72
[[ 9.77920557e-01 -8.57662891e-02 -1.90566337e-01  3.64006881e+01]
 [ 8.79941738e-02  9.96115708e-01  3.24382384e-03 -5.05311013e-01]
 [ 1.89547911e-01 -1.99409294e-02  9.81668961e-01  6.72284984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.324860623999996 meters
Centerline goodness : 0.998218 with order 1
Centerline is valid?  [True, True]
Translation: X:36.46, Y:-0.51, Z:6.73
[[ 9.77964634e-01 -8.52622239e-02 -1.90566336e-01  3.64623471e+01]
 [ 8.74807355e-02  9.96160930e-01  3.24385336e-03 -5.08094452e-01]
 [ 1.89558161e-01 -1.98432571e-02  9.81668961e-01  6.73384745e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.384860624 meters
Centerline goodness : 0.998289 with order 1
Centerline is valid?  [True, True]
Translation: X:36.52, Y:-0.51, Z:6.74
[[ 9.78013935e-01 -8.46954468e-02 -1.90566060e-01  3.65213613e+01]
 [ 8.69065208e-02  9.96211137e-01  3.25997774e-03 -5.11855139e-01]
 [ 1.89567926e-01 -1.97497369e-02  9.81668961e-01  6.74403133e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.444860624 meters
Centerline goodness : 0.998123 with order 1
Centerline is valid?  [True, True]
Translation: X:36.58, Y:-0.52, Z:6.76
[[ 9.77957831e-01 -8.53414372e-02 -1.90565790e-01  3.65823114e+01]
 [ 8.75675596e-02  9.96153197e-01  3.27569380e-03 -5.15708245e-01]
 [ 1.89553169e-01 -1.98908716e-02  9.81668961e-01  6.75664940e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.504860623999996 meters
Centerline goodness : 0.998302 with order 1
Centerline is valid?  [True, True]
Translation: X:36.64, Y:-0.52, Z:6.77
[[ 9.77878658e-01 -8.62443847e-02 -1.90565570e-01  3.66424410e+01]
 [ 8.84897645e-02  9.96071658e-01  3.28844789e-03 -5.19306532e-01]
 [ 1.89533353e-01 -2.00788054e-02  9.81668961e-01  6.76811076e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.564860624 meters
Centerline goodness : 0.998039 with order 1
Centerline is valid?  [True, True]
Translation: X:36.70, Y:-0.52, Z:6.78
[[ 9.77867528e-01 -8.63708512e-02 -1.90565407e-01  3.67029629e+01]
 [ 8.86204007e-02  9.96060013e-01  3.29787575e-03 -5.23628480e-01]
 [ 1.89529741e-01 -2.01128683e-02  9.81668961e-01  6.78112158e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.624860624 meters
Centerline goodness : 0.998157 with order 1
Centerline is valid?  [True, True]
Translation: X:36.76, Y:-0.53, Z:6.79
[[ 9.77656709e-01 -8.87258148e-02 -1.90565183e-01  3.67618106e+01]
 [ 9.10216589e-02  9.95843410e-01  3.31077048e-03 -5.28781631e-01]
 [ 1.89479331e-01 -2.05823561e-02  9.81668961e-01  6.79163846e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.684860623999995 meters
Centerline goodness : 0.998117 with order 1
Centerline is valid?  [True, True]
Translation: X:36.82, Y:-0.53, Z:6.80
[[ 9.77529460e-01 -9.01168583e-02 -1.90565228e-01  3.68223755e+01]
 [ 9.24380755e-02  9.95712940e-01  3.30815948e-03 -5.32615586e-01]
 [ 1.89450143e-01 -2.08493063e-02  9.81668961e-01  6.80105353e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.744860624 meters
Centerline goodness : 0.998207 with order 1
Centerline is valid?  [True, True]
Translation: X:36.88, Y:-0.54, Z:6.81
[[ 9.77528257e-01 -9.01305639e-02 -1.90564918e-01  3.68825982e+01]
 [ 9.24554633e-02  9.95711266e-01  3.32595304e-03 -5.35744055e-01]
 [ 1.89447866e-01 -2.08699808e-02  9.81668962e-01  6.81376852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.804860624 meters
Centerline goodness : 0.997987 with order 1
Centerline is valid?  [True, True]
Translation: X:36.94, Y:-0.54, Z:6.82
[[ 9.77620959e-01 -8.91197952e-02 -1.90564748e-01  3.69412671e+01]
 [ 9.14277669e-02  9.95806124e-01  3.33568167e-03 -5.37799834e-01]
 [ 1.89468267e-01 -2.06839416e-02  9.81668962e-01  6.82433713e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.864860623999995 meters
Centerline goodness : 0.998166 with order 1
Centerline is valid?  [True, True]
Translation: X:37.00, Y:-0.54, Z:6.84
[[ 9.77709747e-01 -8.81403858e-02 -1.90564748e-01  3.70022487e+01]
 [ 9.04301388e-02  9.95897215e-01  3.33568167e-03 -5.38930390e-01]
 [ 1.89488893e-01 -2.04941250e-02  9.81668962e-01  6.83663957e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.924860624 meters
Centerline goodness : 0.997968 with order 1
Centerline is valid?  [True, True]
Translation: X:37.06, Y:-0.54, Z:6.85
[[ 9.77826376e-01 -8.68374467e-02 -1.90564522e-01  3.70625180e+01]
 [ 8.91054366e-02  9.96016570e-01  3.34852618e-03 -5.40368375e-01]
 [ 1.89514644e-01 -2.02546121e-02  9.81668962e-01  6.84861798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 37.984860624 meters
Centerline goodness : 0.997701 with order 1
Centerline is valid?  [True, True]
Translation: X:37.12, Y:-0.54, Z:6.86
[[ 9.77836080e-01 -8.67283581e-02 -1.90564407e-01  3.71237609e+01]
 [ 8.89955704e-02  9.96026371e-01  3.35502237e-03 -5.41411854e-01]
 [ 1.89516200e-01 -2.02400501e-02  9.81668962e-01  6.86037991e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.044860623999995 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:37.18, Y:-0.54, Z:6.87
[[ 9.77842272e-01 -8.66590033e-02 -1.90564182e-01  3.71836702e+01]
 [ 8.89273857e-02  9.96032418e-01  3.36779113e-03 -5.40553606e-01]
 [ 1.89516253e-01 -2.02395430e-02  9.81668962e-01  6.87177908e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.104860624 meters
Centerline goodness : 0.998203 with order 1
Centerline is valid?  [True, True]
Translation: X:37.24, Y:-0.54, Z:6.88
[[ 9.78012722e-01 -8.47139294e-02 -1.90564070e-01  3.72448168e+01]
 [ 8.69473434e-02  9.96207195e-01  3.37409938e-03 -5.38898904e-01]
 [ 1.89555465e-01 -1.98689518e-02  9.81668962e-01  6.88070740e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.164860624 meters
Centerline goodness : 0.998062 with order 1
Centerline is valid?  [True, True]
Translation: X:37.30, Y:-0.54, Z:6.89
[[ 9.78232821e-01 -8.21337072e-02 -1.90563904e-01  3.73033944e+01]
 [ 8.43209185e-02  9.96432905e-01  3.38343978e-03 -5.37310144e-01]
 [ 1.89606250e-01 -1.93783153e-02  9.81668962e-01  6.89017480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.224860623999994 meters
Centerline goodness : 0.998521 with order 1
Centerline is valid?  [True, True]
Translation: X:37.36, Y:-0.53, Z:6.90
[[ 9.78756317e-01 -7.56403012e-02 -1.90563946e-01  3.73631474e+01]
 [ 7.77062313e-02  9.96970566e-01  3.38107408e-03 -5.32353336e-01]
 [ 1.89730900e-01 -1.81172537e-02  9.81668962e-01  6.90269718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.284860624 meters
Centerline goodness : 0.998219 with order 1
Centerline is valid?  [True, True]
Translation: X:37.42, Y:-0.53, Z:6.92
[[ 9.79140903e-01 -7.04874908e-02 -1.90563914e-01  3.74224967e+01]
 [ 7.24578764e-02  9.97365736e-01  3.38291984e-03 -5.27586336e-01]
 [ 1.89823464e-01 -1.71202117e-02  9.81668962e-01  6.91661285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.344860624 meters
Centerline goodness : 0.998359 with order 1
Centerline is valid?  [True, True]
Translation: X:37.48, Y:-0.52, Z:6.93
[[ 9.79692539e-01 -6.23533675e-02 -1.90563866e-01  3.74813830e+01]
 [ 6.41728454e-02  9.97933056e-01  3.38559073e-03 -5.20920517e-01]
 [ 1.89958878e-01 -1.55458635e-02  9.81668962e-01  6.92822446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.404860623999994 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:37.54, Y:-0.51, Z:6.94
[[ 9.80191342e-01 -5.39475969e-02 -1.90563874e-01  3.75406389e+01]
 [ 5.56104639e-02  9.98446802e-01  3.38516208e-03 -5.12931130e-01]
 [ 1.90085269e-01 -1.39154520e-02  9.81668962e-01  6.94194797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.464860623999996 meters
Centerline goodness : 0.998124 with order 1
Centerline is valid?  [True, True]
Translation: X:37.60, Y:-0.51, Z:6.95
[[ 9.80486599e-01 -4.82850007e-02 -1.90563870e-01  3.75993127e+01]
 [ 4.98424313e-02  9.98751356e-01  3.38535299e-03 -5.07755309e-01]
 [ 1.90162462e-01 -1.28174598e-02  9.81668962e-01  6.95314182e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.524860624 meters
Centerline goodness : 0.997537 with order 1
Centerline is valid?  [True, True]
Translation: X:37.66, Y:-0.50, Z:6.96
[[ 9.80855697e-01 -4.00933402e-02 -1.90563968e-01  3.76583394e+01]
 [ 4.14970857e-02  9.99132908e-01  3.37984850e-03 -4.99437705e-01]
 [ 1.90263222e-01 -1.12229930e-02  9.81668962e-01  6.96198249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.584860623999994 meters
Centerline goodness : 0.997597 with order 1
Centerline is valid?  [True, True]
Translation: X:37.72, Y:-0.49, Z:6.97
[[ 9.81048696e-01 -3.50542974e-02 -1.90564036e-01  3.77170640e+01]
 [ 3.63633936e-02  9.99332931e-01  3.37601017e-03 -4.92103212e-01]
 [ 1.90318573e-01 -1.02415854e-02  9.81668962e-01  6.97349836e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.644860623999996 meters
Centerline goodness : 0.997350 with order 1
Centerline is valid?  [True, True]
Translation: X:37.78, Y:-0.49, Z:6.98
[[ 9.81130171e-01 -3.26942004e-02 -1.90564099e-01  3.77753616e+01]
 [ 3.39586142e-02  9.99417550e-01  3.37242566e-03 -4.85319601e-01]
 [ 1.90342847e-01 -9.78008129e-03  9.81668962e-01  6.98482384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.704860624 meters
Centerline goodness : 0.997157 with order 1
Centerline is valid?  [True, True]
Translation: X:37.83, Y:-0.48, Z:7.00
[[ 9.81199157e-01 -3.05495613e-02 -1.90564786e-01  3.78348171e+01]
 [ 3.17663953e-02  9.99489763e-01  3.33317905e-03 -4.81393613e-01]
 [ 1.90365726e-01 -9.32406880e-03  9.81668963e-01  6.99742257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.76486062399999 meters
Centerline goodness : 0.997192 with order 1
Centerline is valid?  [True, True]
Translation: X:37.89, Y:-0.48, Z:7.01
[[ 9.81256548e-01 -2.86469042e-02 -1.90564796e-01  3.78935506e+01]
 [ 2.98281543e-02  9.99549486e-01  3.33258516e-03 -4.78497069e-01]
 [ 1.90383476e-01 -8.95431717e-03  9.81668963e-01  7.00899863e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.824860623999996 meters
Centerline goodness : 0.997266 with order 1
Centerline is valid?  [True, True]
Translation: X:37.95, Y:-0.47, Z:7.02
[[ 9.81341018e-01 -2.55895160e-02 -1.90564904e-01  3.79504128e+01]
 [ 2.67125738e-02  9.99637621e-01  3.32643353e-03 -4.73903143e-01]
 [ 1.90410725e-01 -8.35484472e-03  9.81668963e-01  7.01957807e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.884860624 meters
Centerline goodness : 0.996714 with order 1
Centerline is valid?  [True, True]
Translation: X:38.01, Y:-0.47, Z:7.03
[[ 9.81387732e-01 -2.37283977e-02 -1.90565167e-01  3.80089948e+01]
 [ 2.48138185e-02  9.99686606e-01  3.31128555e-03 -4.68914163e-01]
 [ 1.90426873e-01 -7.97830448e-03  9.81668963e-01  7.03305282e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 38.94486062399999 meters
Centerline goodness : 0.996255 with order 1
Centerline is valid?  [True, True]
Translation: X:38.07, Y:-0.47, Z:7.04
[[ 9.81411307e-01 -2.27311996e-02 -1.90565317e-01  3.80660165e+01]
 [ 2.37963497e-02  9.99711372e-01  3.30263652e-03 -4.66545723e-01]
 [ 1.90435241e-01 -7.77600375e-03  9.81668963e-01  7.04188990e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.004860623999996 meters
Centerline goodness : 0.995859 with order 1
Centerline is valid?  [True, True]
Translation: X:38.12, Y:-0.46, Z:7.05
[[ 9.81394598e-01 -2.34382915e-02 -1.90565708e-01  3.81239902e+01]
 [ 2.45122251e-02  9.99694150e-01  3.27993112e-03 -4.64851042e-01]
 [ 1.90430547e-01 -7.89009620e-03  9.81668963e-01  7.05236714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.064860624 meters
Centerline goodness : 0.995728 with order 1
Centerline is valid?  [True, True]
Translation: X:38.18, Y:-0.46, Z:7.06
[[ 9.81344006e-01 -2.54633071e-02 -1.90566421e-01  3.81819604e+01]
 [ 2.65668587e-02  9.99641795e-01  3.23793440e-03 -4.62686810e-01]
 [ 1.90415711e-01 -8.24027871e-03  9.81668964e-01  7.06425364e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.124860624 meters
Centerline goodness : 0.995592 with order 1
Centerline is valid?  [True, True]
Translation: X:38.24, Y:-0.46, Z:7.08
[[ 9.81203484e-01 -3.03954708e-02 -1.90567147e-01  3.82415412e+01]
 [ 3.15825910e-02  9.99496040e-01  3.19465157e-03 -4.60924046e-01]
 [ 1.90374006e-01 -9.15320752e-03  9.81668965e-01  7.07680091e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.184860623999995 meters
Centerline goodness : 0.995912 with order 1
Centerline is valid?  [True, True]
Translation: X:38.30, Y:-0.46, Z:7.09
[[ 9.81124144e-01 -3.28568688e-02 -1.90567154e-01  3.83006733e+01]
 [ 3.40897950e-02  9.99413669e-01  3.19423965e-03 -4.61062115e-01]
 [ 1.90350466e-01 -9.63034086e-03  9.81668965e-01  7.08877351e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.244860624 meters
Centerline goodness : 0.995335 with order 1
Centerline is valid?  [True, True]
Translation: X:38.36, Y:-0.46, Z:7.10
[[ 9.80944276e-01 -3.78479139e-02 -1.90567213e-01  3.83596398e+01]
 [ 3.91731885e-02  9.99227342e-01  3.19070972e-03 -4.61853889e-01]
 [ 1.90299208e-01 -1.05950338e-02  9.81668965e-01  7.09901919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.304860624 meters
Centerline goodness : 0.995403 with order 1
Centerline is valid?  [True, True]
Translation: X:38.42, Y:-0.46, Z:7.11
[[ 9.80565541e-01 -4.66406552e-02 -1.90567230e-01  3.84187315e+01]
 [ 4.81295956e-02  9.98836006e-01  3.18972541e-03 -4.61107678e-01]
 [ 1.90196640e-01 -1.22996585e-02  9.81668965e-01  7.10900226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.364860623999995 meters
Centerline goodness : 0.995783 with order 1
Centerline is valid?  [True, True]
Translation: X:38.48, Y:-0.46, Z:7.12
[[ 9.80215183e-01 -5.35005813e-02 -1.90567265e-01  3.84787076e+01]
 [ 5.51169181e-02  9.98474819e-01  3.18762357e-03 -4.60196334e-01]
 [ 1.90106076e-01 -1.36280373e-02  9.81668965e-01  7.11976006e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.424860624 meters
Centerline goodness : 0.996419 with order 1
Centerline is valid?  [True, True]
Translation: X:38.54, Y:-0.46, Z:7.13
[[ 9.79961587e-01 -5.79604979e-02 -1.90567227e-01  3.85365585e+01]
 [ 5.96603467e-02  9.98213638e-01  3.18989085e-03 -4.58973632e-01]
 [ 1.90041917e-01 -1.44952773e-02  9.81668965e-01  7.13075628e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.484860624 meters
Centerline goodness : 0.996177 with order 1
Centerline is valid?  [True, True]
Translation: X:38.60, Y:-0.46, Z:7.14
[[ 9.79996864e-01 -5.73608528e-02 -1.90567256e-01  3.85953082e+01]
 [ 5.90492002e-02  9.98249982e-01  3.18816930e-03 -4.57497295e-01]
 [ 1.90050884e-01 -1.43772399e-02  9.81668965e-01  7.14318334e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.544860623999995 meters
Centerline goodness : 0.996167 with order 1
Centerline is valid?  [True, True]
Translation: X:38.66, Y:-0.45, Z:7.16
[[ 9.80336381e-01 -5.12318463e-02 -1.90567256e-01  3.86551142e+01]
 [ 5.28060246e-02  9.98599699e-01  3.18816930e-03 -4.53570565e-01]
 [ 1.90137068e-01 -1.31885775e-02  9.81668965e-01  7.15502196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.604860624 meters
Centerline goodness : 0.995704 with order 1
Centerline is valid?  [True, True]
Translation: X:38.71, Y:-0.45, Z:7.17
[[ 9.80684936e-01 -4.40587956e-02 -1.90567255e-01  3.87145402e+01]
 [ 4.54993328e-02  9.98959281e-01  3.18820466e-03 -4.48732432e-01]
 [ 1.90228460e-01 -1.17973072e-02  9.81668965e-01  7.16903198e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.664860624 meters
Centerline goodness : 0.995460 with order 1
Centerline is valid?  [True, True]
Translation: X:38.77, Y:-0.45, Z:7.18
[[ 9.80874343e-01 -3.96189323e-02 -1.90567216e-01  3.87739208e+01]
 [ 4.09771764e-02  9.99154989e-01  3.19051245e-03 -4.46433411e-01]
 [ 1.90279780e-01 -1.09383982e-02  9.81668965e-01  7.18152681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.724860623999994 meters
Centerline goodness : 0.995500 with order 1
Centerline is valid?  [True, True]
Translation: X:38.83, Y:-0.44, Z:7.19
[[ 9.81036418e-01 -3.53789608e-02 -1.90567248e-01  3.88330635e+01]
 [ 3.66578192e-02  9.99322789e-01  3.18865832e-03 -4.44052012e-01]
 [ 1.90325382e-01 -1.01139696e-02  9.81668965e-01  7.19269875e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.784860624 meters
Centerline goodness : 0.995088 with order 1
Centerline is valid?  [True, True]
Translation: X:38.89, Y:-0.44, Z:7.20
[[ 9.81036675e-01 -3.53716794e-02 -1.90567277e-01  3.88911869e+01]
 [ 3.66500636e-02  9.99323079e-01  3.18691119e-03 -4.41104382e-01]
 [ 1.90325551e-01 -1.01107796e-02  9.81668965e-01  7.20321477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.844860624 meters
Centerline goodness : 0.994877 with order 1
Centerline is valid?  [True, True]
Translation: X:38.95, Y:-0.44, Z:7.21
[[ 9.81005496e-01 -3.62223748e-02 -1.90567985e-01  3.89506253e+01]
 [ 3.75083043e-02  9.99291370e-01  3.14400228e-03 -4.40392116e-01]
 [ 1.90319059e-01 -1.02321655e-02  9.81668966e-01  7.21177230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.904860623999994 meters
Centerline goodness : 0.994867 with order 1
Centerline is valid?  [True, True]
Translation: X:39.01, Y:-0.44, Z:7.22
[[ 9.80899772e-01 -3.89802791e-02 -1.90568035e-01  3.90087420e+01]
 [ 4.03170241e-02  9.99182001e-01  3.14095933e-03 -4.38562677e-01]
 [ 1.90289715e-01 -1.07641024e-02  9.81668966e-01  7.22199063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 39.964860623999996 meters
Centerline goodness : 0.995094 with order 1
Centerline is valid?  [True, True]
Translation: X:39.07, Y:-0.44, Z:7.23
[[ 9.80764273e-01 -4.22516993e-02 -1.90568187e-01  3.90673218e+01]
 [ 4.36476205e-02  9.99042080e-01  3.13169390e-03 -4.35932267e-01]
 [ 1.90253319e-01 -1.13893014e-02  9.81668966e-01  7.23407699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.024860624 meters
Centerline goodness : 0.995131 with order 1
Centerline is valid?  [True, True]
Translation: X:39.13, Y:-0.44, Z:7.25
[[ 9.80633447e-01 -4.51859464e-02 -1.90568289e-01  3.91260501e+01]
 [ 4.66353449e-02  9.98907091e-01  3.12547675e-03 -4.35617574e-01]
 [ 1.90218788e-01 -1.19521649e-02  9.81668966e-01  7.24537672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.084860623999994 meters
Centerline goodness : 0.995095 with order 1
Centerline is valid?  [True, True]
Translation: X:39.18, Y:-0.43, Z:7.26
[[ 9.80335847e-01 -5.12380138e-02 -1.90568345e-01  3.91846680e+01]
 [ 5.27995236e-02  9.98600252e-01  3.12209304e-03 -4.33986897e-01]
 [ 1.90141627e-01 -1.31226175e-02  9.81668966e-01  7.25725949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.144860623999996 meters
Centerline goodness : 0.995237 with order 1
Centerline is valid?  [True, True]
Translation: X:39.24, Y:-0.43, Z:7.27
[[ 9.79942256e-01 -5.82827918e-02 -1.90568337e-01  3.92423887e+01]
 [ 5.99756259e-02  9.98194958e-01  3.12256104e-03 -4.34894311e-01]
 [ 1.90042362e-01 -1.44893848e-02  9.81668966e-01  7.27039870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.204860624 meters
Centerline goodness : 0.995219 with order 1
Centerline is valid?  [True, True]
Translation: X:39.30, Y:-0.44, Z:7.28
[[ 9.79593275e-01 -6.38802887e-02 -1.90568423e-01  3.93019996e+01]
 [ 6.56763522e-02  9.97836108e-01  3.11727561e-03 -4.35999748e-01]
 [ 1.89956922e-01 -1.55695011e-02  9.81668966e-01  7.28265530e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.26486062399999 meters
Centerline goodness : 0.995313 with order 1
Centerline is valid?  [True, True]
Translation: X:39.36, Y:-0.44, Z:7.29
[[ 9.79007488e-01 -7.23051101e-02 -1.90568388e-01  3.93604554e+01]
 [ 7.42584678e-02  9.97234149e-01  3.11946300e-03 -4.37250280e-01]
 [ 1.89815751e-01 -1.72052941e-02  9.81668966e-01  7.29176178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.324860623999996 meters
Centerline goodness : 0.995589 with order 1
Centerline is valid?  [True, True]
Translation: X:39.42, Y:-0.44, Z:7.30
[[ 9.78427066e-01 -7.97759300e-02 -1.90568302e-01  3.94199795e+01]
 [ 8.18693698e-02  9.96638170e-01  3.12470862e-03 -4.39451816e-01]
 [ 1.89678367e-01 -1.86590063e-02  9.81668966e-01  7.30217935e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.384860624 meters
Centerline goodness : 0.995548 with order 1
Centerline is valid?  [True, True]
Translation: X:39.48, Y:-0.44, Z:7.31
[[ 9.78185151e-01 -8.26894101e-02 -1.90568286e-01  3.94804546e+01]
 [ 8.48372633e-02  9.96389918e-01  3.12568613e-03 -4.39745658e-01]
 [ 1.89621857e-01 -1.92247916e-02  9.81668966e-01  7.31071108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.44486062399999 meters
Centerline goodness : 0.995927 with order 1
Centerline is valid?  [True, True]
Translation: X:39.54, Y:-0.44, Z:7.32
[[ 9.78126105e-01 -8.33857814e-02 -1.90567923e-01  3.95402509e+01]
 [ 8.55508244e-02  9.96328836e-01  3.14762400e-03 -4.39373810e-01]
 [ 1.89605850e-01 -1.93820161e-02  9.81668966e-01  7.32274567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.504860623999996 meters
Centerline goodness : 0.996290 with order 1
Centerline is valid?  [True, True]
Translation: X:39.60, Y:-0.44, Z:7.34
[[ 9.78167631e-01 -8.28973609e-02 -1.90567871e-01  3.96016979e+01]
 [ 8.50539245e-02  9.96371368e-01  3.15078769e-03 -4.39245543e-01]
 [ 1.89615178e-01 -1.92905438e-02  9.81668966e-01  7.33570474e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.564860624 meters
Centerline goodness : 0.996573 with order 1
Centerline is valid?  [True, True]
Translation: X:39.66, Y:-0.44, Z:7.35
[[ 9.78365076e-01 -8.05342602e-02 -1.90567602e-01  3.96602294e+01]
 [ 8.26499689e-02  9.96573606e-01  3.16698652e-03 -4.37929946e-01]
 [ 1.89659591e-01 -1.88488754e-02  9.81668966e-01  7.34803290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.62486062399999 meters
Centerline goodness : 0.996710 with order 1
Centerline is valid?  [True, True]
Translation: X:39.72, Y:-0.43, Z:7.36
[[ 9.78714501e-01 -7.61701642e-02 -1.90567658e-01  3.97190657e+01]
 [ 7.82039964e-02  9.96932358e-01  3.16362126e-03 -4.34438983e-01]
 [ 1.89742091e-01 -1.79994344e-02  9.81668966e-01  7.36406825e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.684860623999995 meters
Centerline goodness : 0.996816 with order 1
Centerline is valid?  [True, True]
Translation: X:39.78, Y:-0.43, Z:7.38
[[ 9.78919898e-01 -7.34834696e-02 -1.90567609e-01  3.97788022e+01]
 [ 7.54678505e-02  9.97143208e-01  3.16652909e-03 -4.33531235e-01]
 [ 1.89790510e-01 -1.74815062e-02  9.81668966e-01  7.37552833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.744860624 meters
Centerline goodness : 0.996923 with order 1
Centerline is valid?  [True, True]
Translation: X:39.84, Y:-0.43, Z:7.39
[[ 9.78883324e-01 -7.39691070e-02 -1.90567595e-01  3.98389895e+01]
 [ 7.59626935e-02  9.97105630e-01  3.16738522e-03 -4.33194924e-01]
 [ 1.89781733e-01 -1.75765284e-02  9.81668966e-01  7.38612457e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.804860624 meters
Centerline goodness : 0.996976 with order 1
Centerline is valid?  [True, True]
Translation: X:39.90, Y:-0.43, Z:7.39
[[ 9.78572690e-01 -7.79711581e-02 -1.90567542e-01  3.98987494e+01]
 [ 8.00398538e-02  9.96786622e-01  3.17056996e-03 -4.33383355e-01]
 [ 1.89707964e-01 -1.83556314e-02  9.81668966e-01  7.39496317e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.864860623999995 meters
Centerline goodness : 0.997186 with order 1
Centerline is valid?  [True, True]
Translation: X:39.96, Y:-0.43, Z:7.40
[[ 9.78258867e-01 -8.18144493e-02 -1.90567532e-01  3.99590672e+01]
 [ 8.39547912e-02  9.96464519e-01  3.17117554e-03 -4.34974509e-01]
 [ 1.89634336e-01 -1.91012880e-02  9.81668966e-01  7.40443247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.924860624 meters
Centerline goodness : 0.997454 with order 1
Centerline is valid?  [True, True]
Translation: X:40.02, Y:-0.44, Z:7.42
[[ 9.77836153e-01 -8.67207872e-02 -1.90567474e-01  4.00180815e+01]
 [ 8.89530962e-02  9.96030757e-01  3.17463506e-03 -4.35074345e-01]
 [ 1.89535759e-01 -2.00558398e-02  9.81668966e-01  7.41835042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 40.984860624 meters
Centerline goodness : 0.997587 with order 1
Centerline is valid?  [True, True]
Translation: X:40.08, Y:-0.44, Z:7.43
[[ 9.77621917e-01 -8.91034138e-02 -1.90567490e-01  4.00775968e+01]
 [ 9.13798712e-02  9.95811050e-01  3.17368319e-03 -4.35232391e-01]
 [ 1.89486427e-01 -2.05166950e-02  9.81668966e-01  7.43094088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.044860623999995 meters
Centerline goodness : 0.997764 with order 1
Centerline is valid?  [True, True]
Translation: X:40.14, Y:-0.44, Z:7.44
[[ 9.77528927e-01 -9.01179754e-02 -1.90567437e-01  4.01373740e+01]
 [ 9.24139304e-02  9.95715608e-01  3.17690971e-03 -4.36016637e-01]
 [ 1.89464674e-01 -2.07166070e-02  9.81668966e-01  7.44335703e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.104860624 meters
Centerline goodness : 0.997738 with order 1
Centerline is valid?  [True, True]
Translation: X:40.20, Y:-0.44, Z:7.46
[[ 9.77585069e-01 -8.95070139e-02 -1.90567382e-01  4.01971471e+01]
 [ 9.17922298e-02  9.95773103e-01  3.18016795e-03 -4.36235126e-01]
 [ 1.89477226e-01 -2.06014896e-02  9.81668966e-01  7.45579487e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.164860624 meters
Centerline goodness : 0.997896 with order 1
Centerline is valid?  [True, True]
Translation: X:40.26, Y:-0.44, Z:7.47
[[ 9.77920104e-01 -8.57691501e-02 -1.90567369e-01  4.02564560e+01]
 [ 8.79849649e-02  9.96116724e-01  3.18092907e-03 -4.35110861e-01]
 [ 1.89554518e-01 -1.98777578e-02  9.81668966e-01  7.46654264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.224860623999994 meters
Centerline goodness : 0.998229 with order 1
Centerline is valid?  [True, True]
Translation: X:40.32, Y:-0.43, Z:7.48
[[ 9.78226408e-01 -8.22020129e-02 -1.90567375e-01  4.03154848e+01]
 [ 8.43513834e-02  9.96430995e-01  3.18059299e-03 -4.34942629e-01]
 [ 1.89625788e-01 -1.91859618e-02  9.81668966e-01  7.47828037e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.284860624 meters
Centerline goodness : 0.998381 with order 1
Centerline is valid?  [True, True]
Translation: X:40.38, Y:-0.43, Z:7.49
[[ 9.78802612e-01 -7.50301698e-02 -1.90567366e-01  4.03752029e+01]
 [ 7.70461607e-02  9.97022452e-01  3.18112928e-03 -4.33521216e-01]
 [ 1.89761262e-01 -1.77961816e-02  9.81668966e-01  7.49111546e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.344860624 meters
Centerline goodness : 0.998694 with order 1
Centerline is valid?  [True, True]
Translation: X:40.43, Y:-0.43, Z:7.50
[[ 9.79453902e-01 -6.59858507e-02 -1.90567368e-01  4.04348038e+01]
 [ 6.78334423e-02  9.97691588e-01  3.18103508e-03 -4.31223440e-01]
 [ 1.89917556e-01 -1.60425178e-02  9.81668966e-01  7.50384521e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.404860623999994 meters
Centerline goodness : 0.998577 with order 1
Centerline is valid?  [True, True]
Translation: X:40.49, Y:-0.43, Z:7.52
[[ 9.79753730e-01 -6.13736039e-02 -1.90567334e-01  4.04947041e+01]
 [ 6.31356957e-02  9.97999876e-01  3.18304454e-03 -4.30564247e-01]
 [ 1.89990821e-01 -1.51502010e-02  9.81668966e-01  7.51634774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.464860623999996 meters
Centerline goodness : 0.998682 with order 1
Centerline is valid?  [True, True]
Translation: X:40.55, Y:-0.43, Z:7.53
[[ 9.80042726e-01 -5.65717737e-02 -1.90567285e-01  4.05535788e+01]
 [ 5.82450020e-02  9.98297235e-01  3.18598873e-03 -4.29649783e-01]
 [ 1.90062557e-01 -1.42219970e-02  9.81668966e-01  7.52991956e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.524860624 meters
Centerline goodness : 0.998711 with order 1
Centerline is valid?  [True, True]
Translation: X:40.61, Y:-0.43, Z:7.54
[[ 9.80115245e-01 -5.53011161e-02 -1.90567291e-01  4.06136418e+01]
 [ 5.69506062e-02  9.98371915e-01  3.18562633e-03 -4.30437999e-01]
 [ 1.90080862e-01 -1.39752037e-02  9.81668966e-01  7.54124498e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.584860623999994 meters
Centerline goodness : 0.998794 with order 1
Centerline is valid?  [True, True]
Translation: X:40.67, Y:-0.43, Z:7.55
[[ 9.80034586e-01 -5.67127715e-02 -1.90567237e-01  4.06736946e+01]
 [ 5.83891833e-02  9.98288803e-01  3.18887101e-03 -4.32577149e-01]
 [ 1.90060289e-01 -1.42522692e-02  9.81668966e-01  7.55033791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.644860623999996 meters
Centerline goodness : 0.998850 with order 1
Centerline is valid?  [True, True]
Translation: X:40.73, Y:-0.43, Z:7.56
[[ 9.79814850e-01 -6.03904618e-02 -1.90567183e-01  4.07331528e+01]
 [ 6.21359897e-02  9.98062588e-01  3.19207583e-03 -4.34749702e-01]
 [ 1.90005205e-01 -1.49687238e-02  9.81668966e-01  7.56134770e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.704860624 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:40.79, Y:-0.44, Z:7.57
[[ 9.79435422e-01 -6.62601491e-02 -1.90567173e-01  4.07915525e+01]
 [ 6.81150912e-02  9.97672362e-01  3.19264636e-03 -4.38638247e-01]
 [ 1.89912057e-01 -1.61074913e-02  9.81668966e-01  7.57081359e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.76486062399999 meters
Centerline goodness : 0.998749 with order 1
Centerline is valid?  [True, True]
Translation: X:40.85, Y:-0.44, Z:7.58
[[ 9.79181389e-01 -6.99141492e-02 -1.90567099e-01  4.08512946e+01]
 [ 7.18379762e-02  9.97411191e-01  3.19705998e-03 -4.39959412e-01]
 [ 1.89850238e-01 -1.68204564e-02  9.81668966e-01  7.58224333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.824860623999996 meters
Centerline goodness : 0.998779 with order 1
Centerline is valid?  [True, True]
Translation: X:40.91, Y:-0.44, Z:7.60
[[ 9.78999110e-01 -7.24218691e-02 -1.90567090e-01  4.09121686e+01]
 [ 7.43924920e-02  9.97223913e-01  3.19763378e-03 -4.42090680e-01]
 [ 1.89806480e-01 -1.73072413e-02  9.81668966e-01  7.59668021e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.884860624 meters
Centerline goodness : 0.998674 with order 1
Centerline is valid?  [True, True]
Translation: X:40.97, Y:-0.45, Z:7.61
[[ 9.79020870e-01 -7.21276771e-02 -1.90566875e-01  4.09734030e+01]
 [ 7.40952854e-02  9.97245999e-01  3.21038670e-03 -4.45203294e-01]
 [ 1.89810496e-01 -1.72631426e-02  9.81668966e-01  7.60902767e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 41.94486062399999 meters
Centerline goodness : 0.998593 with order 1
Centerline is valid?  [True, True]
Translation: X:41.03, Y:-0.45, Z:7.62
[[ 9.79080744e-01 -7.13109017e-02 -1.90566660e-01  4.10327711e+01]
 [ 7.32657600e-02  9.97307245e-01  3.22310279e-03 -4.46715966e-01]
 [ 1.89823668e-01 -1.71176890e-02  9.81668966e-01  7.62050446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.004860623999996 meters
Centerline goodness : 0.998625 with order 1
Centerline is valid?  [True, True]
Translation: X:41.09, Y:-0.45, Z:7.63
[[ 9.79124714e-01 -7.07047572e-02 -1.90566606e-01  4.10931800e+01]
 [ 7.26489429e-02  9.97352356e-01  3.22626988e-03 -4.50403656e-01]
 [ 1.89833941e-01 -1.70033831e-02  9.81668966e-01  7.63316218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.064860624 meters
Centerline goodness : 0.998731 with order 1
Centerline is valid?  [True, True]
Translation: X:41.15, Y:-0.45, Z:7.65
[[ 9.79123269e-01 -7.07253449e-02 -1.90566390e-01  4.11537769e+01]
 [ 7.26723722e-02  9.97350608e-01  3.23900188e-03 -4.54060528e-01]
 [ 1.89832425e-01 -1.70202937e-02  9.81668967e-01  7.64631829e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.12486062399999 meters
Centerline goodness : 0.998557 with order 1
Centerline is valid?  [True, True]
Translation: X:41.21, Y:-0.46, Z:7.66
[[ 9.79054946e-01 -7.16655304e-02 -1.90566168e-01  4.12142628e+01]
 [ 7.36325748e-02  9.97280135e-01  3.25202890e-03 -4.58285184e-01]
 [ 1.89814795e-01 -1.72157926e-02  9.81668967e-01  7.65704929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.184860623999995 meters
Centerline goodness : 0.998694 with order 1
Centerline is valid?  [True, True]
Translation: X:41.27, Y:-0.47, Z:7.67
[[ 9.78789472e-01 -7.52048410e-02 -1.90566004e-01  4.12737577e+01]
 [ 7.72396142e-02  9.97007224e-01  3.26160716e-03 -4.65201628e-01]
 [ 1.89750394e-01 -1.79116713e-02  9.81668967e-01  7.66930013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.244860624 meters
Centerline goodness : 0.998881 with order 1
Centerline is valid?  [True, True]
Translation: X:41.33, Y:-0.47, Z:7.68
[[ 9.78560483e-01 -7.81280908e-02 -1.90565951e-01  4.13334757e+01]
 [ 8.02178572e-02  9.96772009e-01  3.26465028e-03 -4.70437033e-01]
 [ 1.89695745e-01 -1.84814501e-02  9.81668967e-01  7.67954817e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.30486062399999 meters
Centerline goodness : 0.998812 with order 1
Centerline is valid?  [True, True]
Translation: X:41.39, Y:-0.48, Z:7.69
[[ 9.78347095e-01 -8.07563302e-02 -1.90565940e-01  4.13925841e+01]
 [ 8.28951334e-02  9.96552926e-01  3.26530399e-03 -4.75624403e-01]
 [ 1.89645351e-01 -1.89915897e-02  9.81668967e-01  7.69003800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.364860623999995 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:41.45, Y:-0.48, Z:7.70
[[ 9.78006530e-01 -8.47814714e-02 -1.90565815e-01  4.14519111e+01]
 [ 8.69965840e-02  9.96203234e-01  3.27262888e-03 -4.82537467e-01]
 [ 1.89564822e-01 -1.97792273e-02  9.81668967e-01  7.70390612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.424860624 meters
Centerline goodness : 0.998924 with order 1
Centerline is valid?  [True, True]
Translation: X:41.51, Y:-0.49, Z:7.72
[[ 9.77818826e-01 -8.69195993e-02 -1.90565805e-01  4.15109171e+01]
 [ 8.91746038e-02  9.96010631e-01  3.27320835e-03 -4.86445350e-01]
 [ 1.89521061e-01 -2.01942349e-02  9.81668967e-01  7.71737934e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.484860624 meters
Centerline goodness : 0.999159 with order 1
Centerline is valid?  [True, True]
Translation: X:41.57, Y:-0.49, Z:7.73
[[ 9.77682763e-01 -8.84370110e-02 -1.90565765e-01  4.15706863e+01]
 [ 9.07206877e-02  9.95870990e-01  3.27550392e-03 -4.91864349e-01]
 [ 1.89489241e-01 -2.04906610e-02  9.81668967e-01  7.72775791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.544860623999995 meters
Centerline goodness : 0.998579 with order 1
Centerline is valid?  [True, True]
Translation: X:41.63, Y:-0.50, Z:7.74
[[ 9.77642964e-01 -8.88767380e-02 -1.90565369e-01  4.16317543e+01]
 [ 9.11729990e-02  9.95829606e-01  3.29836431e-03 -4.96825029e-01]
 [ 1.89477489e-01 -2.05990389e-02  9.81668967e-01  7.74012917e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.604860624 meters
Centerline goodness : 0.998811 with order 1
Centerline is valid?  [True, True]
Translation: X:41.69, Y:-0.50, Z:7.75
[[ 9.77722847e-01 -8.79941002e-02 -1.90565143e-01  4.16915716e+01]
 [ 9.02764555e-02  9.95911239e-01  3.31141179e-03 -5.00704404e-01]
 [ 1.89494583e-01 -2.04411886e-02  9.81668967e-01  7.75294330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.664860624 meters
Centerline goodness : 0.998812 with order 1
Centerline is valid?  [True, True]
Translation: X:41.75, Y:-0.51, Z:7.77
[[ 9.78036173e-01 -8.44407235e-02 -1.90564974e-01  4.17509070e+01]
 [ 8.66588341e-02  9.96232511e-01  3.32107400e-03 -5.05902435e-01]
 [ 1.89566589e-01 -1.97622690e-02  9.81668967e-01  7.76618484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.724860623999994 meters
Centerline goodness : 0.998818 with order 1
Centerline is valid?  [True, True]
Translation: X:41.81, Y:-0.51, Z:7.78
[[ 9.78532756e-01 -7.84771071e-02 -1.90564923e-01  4.18103552e+01]
 [ 8.05848209e-02  9.96742212e-01  3.32401938e-03 -5.10141368e-01]
 [ 1.89683244e-01 -1.86093020e-02  9.81668967e-01  7.77659142e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.784860624 meters
Centerline goodness : 0.998892 with order 1
Centerline is valid?  [True, True]
Translation: X:41.87, Y:-0.51, Z:7.79
[[ 9.78783252e-01 -7.52884571e-02 -1.90564935e-01  4.18701312e+01]
 [ 7.73367027e-02  9.96999493e-01  3.32335921e-03 -5.12755317e-01]
 [ 1.89742933e-01 -1.79905120e-02  9.81668967e-01  7.78829363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.844860624 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:41.93, Y:-0.52, Z:7.80
[[ 9.79106991e-01 -7.09543205e-02 -1.90564907e-01  4.19281280e+01]
 [ 7.29222027e-02  9.97332090e-01  3.32494439e-03 -5.17561782e-01]
 [ 1.89820578e-01 -1.71518891e-02  9.81668967e-01  7.79967819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.904860623999994 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:41.99, Y:-0.52, Z:7.81
[[ 9.79159143e-01 -7.02308008e-02 -1.90564967e-01  4.19882629e+01]
 [ 7.21845475e-02  9.97385762e-01  3.32148582e-03 -5.23480913e-01]
 [ 1.89833514e-01 -1.70081091e-02  9.81668967e-01  7.81197249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 42.964860623999996 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:42.05, Y:-0.53, Z:7.82
[[ 9.79116155e-01 -7.08278836e-02 -1.90564859e-01  4.20497894e+01]
 [ 7.27939394e-02  9.97341451e-01  3.32767538e-03 -5.26139208e-01]
 [ 1.89822541e-01 -1.71301475e-02  9.81668967e-01  7.82355408e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.024860624 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:42.11, Y:-0.53, Z:7.83
[[ 9.78942215e-01 -7.31932871e-02 -1.90564639e-01  4.21098309e+01]
 [ 7.52057947e-02  9.97162440e-01  3.34023421e-03 -5.32462157e-01]
 [ 1.89779418e-01 -1.76014614e-02  9.81668967e-01  7.83233718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.084860623999994 meters
Centerline goodness : 0.997765 with order 1
Centerline is valid?  [True, True]
Translation: X:42.17, Y:-0.54, Z:7.84
[[ 9.78827590e-01 -7.47108557e-02 -1.90564521e-01  4.21694277e+01]
 [ 7.67529042e-02  9.97044527e-01  3.34695241e-03 -5.36924565e-01]
 [ 1.89751259e-01 -1.79024698e-02  9.81668967e-01  7.84482742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.144860623999996 meters
Centerline goodness : 0.997359 with order 1
Centerline is valid?  [True, True]
Translation: X:42.23, Y:-0.54, Z:7.86
[[ 9.78626704e-01 -7.72978566e-02 -1.90564466e-01  4.22284707e+01]
 [ 7.93886524e-02  9.96838111e-01  3.35007833e-03 -5.40960853e-01]
 [ 1.89702968e-01 -1.84071323e-02  9.81668967e-01  7.85834841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.204860624 meters
Centerline goodness : 0.996907 with order 1
Centerline is valid?  [True, True]
Translation: X:42.29, Y:-0.55, Z:7.87
[[ 9.78494280e-01 -7.89565256e-02 -1.90564456e-01  4.22897134e+01]
 [ 8.10782952e-02  9.96702104e-01  3.35064006e-03 -5.45816231e-01]
 [ 1.89671439e-01 -1.87292234e-02  9.81668967e-01  7.87082375e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.26486062399999 meters
Centerline goodness : 0.997285 with order 1
Centerline is valid?  [True, True]
Translation: X:42.35, Y:-0.55, Z:7.88
[[ 9.78315768e-01 -8.11389714e-02 -1.90564230e-01  4.23494511e+01]
 [ 8.33038210e-02  9.96518520e-01  3.36345343e-03 -5.49476597e-01]
 [ 1.89627877e-01 -1.91652480e-02  9.81668967e-01  7.88180100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.324860623999996 meters
Centerline goodness : 0.997054 with order 1
Centerline is valid?  [True, True]
Translation: X:42.41, Y:-0.55, Z:7.89
[[ 9.78011778e-01 -8.47244946e-02 -1.90564219e-01  4.24079493e+01]
 [ 8.69561714e-02  9.96206458e-01  3.36406890e-03 -5.54346748e-01]
 [ 1.89556287e-01 -1.98608339e-02  9.81668967e-01  7.89362493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.384860624 meters
Centerline goodness : 0.997358 with order 1
Centerline is valid?  [True, True]
Translation: X:42.47, Y:-0.56, Z:7.91
[[ 9.77848863e-01 -8.65850533e-02 -1.90563976e-01  4.24680442e+01]
 [ 8.88539839e-02  9.96038935e-01  3.37777823e-03 -5.57864153e-01]
 [ 1.89516675e-01 -2.02353251e-02  9.81668967e-01  7.90517009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.44486062399999 meters
Centerline goodness : 0.997295 with order 1
Centerline is valid?  [True, True]
Translation: X:42.53, Y:-0.56, Z:7.92
[[ 9.77908461e-01 -8.59095220e-02 -1.90563888e-01  4.25286722e+01]
 [ 8.81668432e-02  9.96099977e-01  3.38274506e-03 -5.62139128e-01]
 [ 1.89530074e-01 -2.01094314e-02  9.81668967e-01  7.91677733e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.504860623999996 meters
Centerline goodness : 0.996734 with order 1
Centerline is valid?  [True, True]
Translation: X:42.59, Y:-0.56, Z:7.93
[[ 9.78254639e-01 -8.18738682e-02 -1.90563721e-01  4.25879727e+01]
 [ 8.40579187e-02  9.96455097e-01  3.39212344e-03 -5.64372923e-01]
 [ 1.89610465e-01 -1.93367503e-02  9.81668967e-01  7.92985572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.564860624 meters
Centerline goodness : 0.996731 with order 1
Centerline is valid?  [True, True]
Translation: X:42.65, Y:-0.57, Z:7.94
[[ 9.78570148e-01 -7.80125066e-02 -1.90563676e-01  4.26473525e+01]
 [ 8.01251993e-02  9.96779027e-01  3.39465348e-03 -5.66902910e-01]
 [ 1.89685050e-01 -1.85908591e-02  9.81668967e-01  7.94084021e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.62486062399999 meters
Centerline goodness : 0.996512 with order 1
Centerline is valid?  [True, True]
Translation: X:42.71, Y:-0.57, Z:7.95
[[ 9.79160678e-01 -7.02128861e-02 -1.90563681e-01  4.27066812e+01]
 [ 7.21803678e-02  9.97385819e-01  3.39435572e-03 -5.67932945e-01]
 [ 1.89827186e-01 -1.70785763e-02  9.81668967e-01  7.94896879e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.684860623999995 meters
Centerline goodness : 0.996282 with order 1
Centerline is valid?  [True, True]
Translation: X:42.77, Y:-0.57, Z:7.96
[[ 9.79549097e-01 -6.45680073e-02 -1.90563739e-01  4.27664799e+01]
 [ 6.64297864e-02  9.97785340e-01  3.39112885e-03 -5.68536026e-01]
 [ 1.89922746e-01 -1.59808857e-02  9.81668967e-01  7.95908504e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.744860624 meters
Centerline goodness : 0.995796 with order 1
Centerline is valid?  [True, True]
Translation: X:42.83, Y:-0.57, Z:7.97
[[ 9.80084495e-01 -5.58556307e-02 -1.90563722e-01  4.28261827e+01]
 [ 5.75553697e-02  9.98336553e-01  3.39208068e-03 -5.69068835e-01]
 [ 1.90057262e-01 -1.42924911e-02  9.81668967e-01  7.97072078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.80486062399999 meters
Centerline goodness : 0.995505 with order 1
Centerline is valid?  [True, True]
Translation: X:42.89, Y:-0.57, Z:7.98
[[ 9.80423984e-01 -4.95407382e-02 -1.90563710e-01  4.28859981e+01]
 [ 5.11229914e-02  9.98686602e-01  3.39275181e-03 -5.70413046e-01]
 [ 1.90145344e-01 -1.30685221e-02  9.81668967e-01  7.98329324e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.864860623999995 meters
Centerline goodness : 0.995645 with order 1
Centerline is valid?  [True, True]
Translation: X:42.94, Y:-0.57, Z:7.99
[[ 9.80836304e-01 -4.05664156e-02 -1.90563667e-01  4.29442445e+01]
 [ 4.19819359e-02  9.99112601e-01  3.39513780e-03 -5.70567908e-01]
 [ 1.90256833e-01 -1.13303061e-02  9.81668967e-01  7.99307029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.924860624 meters
Centerline goodness : 0.995338 with order 1
Centerline is valid?  [True, True]
Translation: X:43.00, Y:-0.57, Z:8.00
[[ 9.81111324e-01 -3.32570664e-02 -1.90563736e-01  4.30035814e+01]
 [ 3.45356231e-02  9.99397714e-01  3.39127877e-03 -5.71036958e-01]
 [ 1.90336178e-01 -9.90845937e-03  9.81668968e-01  8.00300428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 43.98486062399999 meters
Centerline goodness : 0.995208 with order 1
Centerline is valid?  [True, True]
Translation: X:43.06, Y:-0.57, Z:8.01
[[ 9.81264084e-01 -2.83946303e-02 -1.90563748e-01  4.30610590e+01]
 [ 2.95824248e-02  9.99556594e-01  3.39062942e-03 -5.72348869e-01]
 [ 1.90382975e-01 -8.96444061e-03  9.81668968e-01  8.01382078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.044860623999995 meters
Centerline goodness : 0.995395 with order 1
Centerline is valid?  [True, True]
Translation: X:43.12, Y:-0.57, Z:8.03
[[ 9.81410034e-01 -2.27973806e-02 -1.90563965e-01  4.31201521e+01]
 [ 2.38784482e-02  9.99709161e-01  3.37838505e-03 -5.73884291e-01]
 [ 1.90431523e-01 -7.86595275e-03  9.81668968e-01  8.02530498e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.104860624 meters
Centerline goodness : 0.995473 with order 1
Centerline is valid?  [True, True]
Translation: X:43.18, Y:-0.57, Z:8.04
[[ 9.81576981e-01 -1.38561510e-02 -1.90563999e-01  4.31790644e+01]
 [ 1.47700949e-02  9.99885215e-01  3.37642289e-03 -5.73925318e-01]
 [ 1.90495341e-01 -6.12886734e-03  9.81668968e-01  8.03861318e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.164860624 meters
Centerline goodness : 0.995210 with order 1
Centerline is valid?  [True, True]
Translation: X:43.24, Y:-0.57, Z:8.05
[[ 9.81663990e-01 -4.59677115e-03 -1.90564110e-01  4.32368041e+01]
 [ 5.33676522e-03  9.99980080e-01  3.37015535e-03 -5.74859423e-01]
 [ 1.90544822e-01 -4.32535607e-03  9.81668968e-01  8.04717803e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.224860623999994 meters
Centerline goodness : 0.996098 with order 1
Centerline is valid?  [True, True]
Translation: X:43.30, Y:-0.58, Z:8.06
[[ 9.81672744e-01  1.96451891e-03 -1.90564330e-01  4.32962565e+01]
 [-1.34938643e-03  9.99993453e-01  3.35765969e-03 -5.76189876e-01]
 [ 1.90569679e-01 -3.03897808e-03  9.81668968e-01  8.05717358e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.284860624 meters
Centerline goodness : 0.995720 with order 1
Centerline is valid?  [True, True]
Translation: X:43.35, Y:-0.58, Z:8.07
[[ 9.81628243e-01  9.55024877e-03 -1.90564384e-01  4.33541119e+01]
 [-9.07729698e-03  9.99953174e-01  3.35461677e-03 -5.76122260e-01]
 [ 1.90587498e-01 -1.56317706e-03  9.81668968e-01  8.06920347e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.344860624 meters
Centerline goodness : 0.995906 with order 1
Centerline is valid?  [True, True]
Translation: X:43.41, Y:-0.58, Z:8.08
[[ 9.81592182e-01  1.27264601e-02 -1.90564490e-01  4.34110572e+01]
 [-1.23139778e-02  9.99918573e-01  3.34857539e-03 -5.76780918e-01]
 [ 1.90591589e-01 -9.40328533e-04  9.81668968e-01  8.08067010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.404860623999994 meters
Centerline goodness : 0.996289 with order 1
Centerline is valid?  [True, True]
Translation: X:43.47, Y:-0.58, Z:8.09
[[ 9.81565083e-01  1.46650551e-02 -1.90564750e-01  4.34690193e+01]
 [-1.42916478e-02  9.99892312e-01  3.33374037e-03 -5.79062388e-01]
 [ 1.90593118e-01 -5.48798856e-04  9.81668968e-01  8.09104330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.464860623999996 meters
Centerline goodness : 0.995942 with order 1
Centerline is valid?  [True, True]
Translation: X:43.53, Y:-0.58, Z:8.10
[[ 9.81586972e-01  1.31152821e-02 -1.90564967e-01  4.35261583e+01]
 [-1.27153608e-02  9.99913641e-01  3.32126587e-03 -5.80793380e-01]
 [ 1.90592069e-01 -8.37008988e-04  9.81668968e-01  8.09944614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.524860624 meters
Centerline goodness : 0.995739 with order 1
Centerline is valid?  [True, True]
Translation: X:43.58, Y:-0.58, Z:8.11
[[ 9.81650530e-01  6.86502749e-03 -1.90565234e-01  4.35838272e+01]
 [-6.35140474e-03  9.99974365e-01  3.30591083e-03 -5.83799945e-01]
 [ 1.90583044e-01 -2.03489220e-03  9.81668968e-01  8.11057925e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.584860623999994 meters
Centerline goodness : 0.995593 with order 1
Centerline is valid?  [True, True]
Translation: X:43.64, Y:-0.59, Z:8.12
[[ 9.81671909e-01 -2.20900671e-03 -1.90565956e-01  4.36433136e+01]
 [ 2.88379314e-03  9.99990516e-01  3.26371495e-03 -5.88581240e-01]
 [ 1.90556939e-01 -3.75345008e-03  9.81668969e-01  8.12197965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.644860623999996 meters
Centerline goodness : 0.995779 with order 1
Centerline is valid?  [True, True]
Translation: X:43.70, Y:-0.59, Z:8.13
[[ 9.81635225e-01 -8.76860584e-03 -1.90565992e-01  4.37009501e+01]
 [ 9.56538205e-03  9.99948931e-01  3.26164135e-03 -5.91843964e-01]
 [ 1.90527660e-01 -5.02457856e-03  9.81668969e-01  8.13189516e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.704860624 meters
Centerline goodness : 0.995403 with order 1
Centerline is valid?  [True, True]
Translation: X:43.76, Y:-0.60, Z:8.14
[[ 9.81533365e-01 -1.66309627e-02 -1.90566692e-01  4.37596231e+01]
 [ 1.75663709e-02  9.99840514e-01  3.22023123e-03 -5.96526797e-01]
 [ 1.90482743e-01 -6.50832958e-03  9.81668970e-01  8.14144677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.76486062399999 meters
Centerline goodness : 0.995308 with order 1
Centerline is valid?  [True, True]
Translation: X:43.82, Y:-0.60, Z:8.15
[[ 9.81472885e-01 -1.98823999e-02 -1.90566699e-01  4.38176610e+01]
 [ 2.08783704e-02  9.99776838e-01  3.21982534e-03 -5.99052952e-01]
 [ 1.90460154e-01 -7.13889339e-03  9.81668970e-01  8.15255174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.824860623999996 meters
Centerline goodness : 0.995558 with order 1
Centerline is valid?  [True, True]
Translation: X:43.87, Y:-0.60, Z:8.17
[[ 9.81464046e-01 -2.03137597e-02 -1.90566726e-01  4.38747821e+01]
 [ 2.13174583e-02  9.99767578e-01  3.21819364e-03 -5.99820213e-01]
 [ 1.90457061e-01 -7.22093960e-03  9.81668970e-01  8.16704327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.884860624 meters
Centerline goodness : 0.995522 with order 1
Centerline is valid?  [True, True]
Translation: X:43.93, Y:-0.60, Z:8.18
[[ 9.81467198e-01 -2.01541004e-02 -1.90567447e-01  4.39327047e+01]
 [ 2.11464362e-02  9.99771348e-01  3.17494592e-03 -6.00601476e-01]
 [ 1.90459885e-01 -7.14592764e-03  9.81668971e-01  8.17763255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 44.94486062399999 meters
Centerline goodness : 0.996152 with order 1
Centerline is valid?  [True, True]
Translation: X:43.99, Y:-0.60, Z:8.19
[[ 9.81514111e-01 -1.77217347e-02 -1.90567548e-01  4.39896720e+01]
 [ 1.86675264e-02  9.99820725e-01  3.16886554e-03 -6.01106759e-01]
 [ 1.90477226e-01 -6.66771098e-03  9.81668971e-01  8.19183554e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.004860623999996 meters
Centerline goodness : 0.995435 with order 1
Centerline is valid?  [True, True]
Translation: X:44.05, Y:-0.60, Z:8.20
[[ 9.81542380e-01 -1.60775022e-02 -1.90567758e-01  4.40475222e+01]
 [ 1.69901641e-02  9.99850675e-01  3.15617275e-03 -6.00142903e-01]
 [ 1.90488558e-01 -6.33569480e-03  9.81668971e-01  8.20285190e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.064860624 meters
Centerline goodness : 0.996215 with order 1
Centerline is valid?  [True, True]
Translation: X:44.11, Y:-0.60, Z:8.21
[[ 9.81533886e-01 -1.65796504e-02 -1.90568479e-01  4.41063641e+01]
 [ 1.74931250e-02  9.99842140e-01  3.11206685e-03 -6.00116417e-01]
 [ 1.90486799e-01 -6.38823730e-03  9.81668972e-01  8.21292943e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.12486062399999 meters
Centerline goodness : 0.996235 with order 1
Centerline is valid?  [True, True]
Translation: X:44.16, Y:-0.60, Z:8.22
[[ 9.81447347e-01 -2.10889916e-02 -1.90568517e-01  4.41647796e+01]
 [ 2.20861116e-02  9.99751236e-01  3.10969631e-03 -6.00368769e-01]
 [ 1.90455530e-01 -7.26092073e-03  9.81668972e-01  8.22342032e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.184860623999995 meters
Centerline goodness : 0.996061 with order 1
Centerline is valid?  [True, True]
Translation: X:44.22, Y:-0.60, Z:8.24
[[ 9.81347591e-01 -2.53088611e-02 -1.90568537e-01  4.42228336e+01]
 [ 2.63844458e-02  9.99647037e-01  3.10851094e-03 -5.99907427e-01]
 [ 1.90422600e-01 -8.07857496e-03  9.81668972e-01  8.23646013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.244860624 meters
Centerline goodness : 0.996339 with order 1
Centerline is valid?  [True, True]
Translation: X:44.28, Y:-0.60, Z:8.25
[[ 9.81145329e-01 -3.22092917e-02 -1.90568634e-01  4.42814557e+01]
 [ 3.34123742e-02  9.99436835e-01  3.10251659e-03 -5.99341513e-01]
 [ 1.90361383e-01 -9.41137019e-03  9.81668972e-01  8.24919265e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.30486062399999 meters
Centerline goodness : 0.996603 with order 1
Centerline is valid?  [True, True]
Translation: X:44.34, Y:-0.60, Z:8.26
[[ 9.80983865e-01 -3.67999172e-02 -1.90568681e-01  4.43385727e+01]
 [ 3.80880167e-02  9.99269581e-01  3.09962801e-03 -6.00300819e-01]
 [ 1.90315420e-01 -1.02990682e-02  9.81668972e-01  8.25788746e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.364860623999995 meters
Centerline goodness : 0.996685 with order 1
Centerline is valid?  [True, True]
Translation: X:44.40, Y:-0.60, Z:8.27
[[ 9.80680549e-01 -4.41490851e-02 -1.90568933e-01  4.43968598e+01]
 [ 4.55711471e-02  9.98956335e-01  3.08407754e-03 -5.97587283e-01]
 [ 1.90233884e-01 -1.17089397e-02  9.81668972e-01  8.26813814e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.424860624 meters
Centerline goodness : 0.996263 with order 1
Centerline is valid?  [True, True]
Translation: X:44.46, Y:-0.60, Z:8.28
[[ 9.80409848e-01 -4.97993621e-02 -1.90569026e-01  4.44559668e+01]
 [ 5.13255985e-02  9.98677229e-01  3.07832447e-03 -5.95132328e-01]
 [ 1.90163648e-01 -1.27990889e-02  9.81668972e-01  8.28141839e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.48486062399999 meters
Centerline goodness : 0.996786 with order 1
Centerline is valid?  [True, True]
Translation: X:44.51, Y:-0.59, Z:8.29
[[ 9.80254274e-01 -5.27731354e-02 -1.90569027e-01  4.45145780e+01]
 [ 5.43547669e-02  9.98516942e-01  3.07826929e-03 -5.93394683e-01]
 [ 1.90123952e-01 -1.33758217e-02  9.81668972e-01  8.29092333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.544860623999995 meters
Centerline goodness : 0.996932 with order 1
Centerline is valid?  [True, True]
Translation: X:44.57, Y:-0.59, Z:8.30
[[ 9.80140877e-01 -5.48385866e-02 -1.90569125e-01  4.45741109e+01]
 [ 5.64575154e-02  9.98400276e-01  3.07215916e-03 -5.87848575e-01]
 [ 1.90095794e-01 -1.37702081e-02  9.81668972e-01  8.30215927e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.604860624 meters
Centerline goodness : 0.996850 with order 1
Centerline is valid?  [True, True]
Translation: X:44.63, Y:-0.58, Z:8.31
[[ 9.80106236e-01 -5.54542604e-02 -1.90569125e-01  4.46328348e+01]
 [ 5.70846588e-02  9.98364615e-01  3.07215916e-03 -5.83955035e-01]
 [ 1.90087107e-01 -1.38896158e-02  9.81668972e-01  8.31349532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.66486062399999 meters
Centerline goodness : 0.996412 with order 1
Centerline is valid?  [True, True]
Translation: X:44.69, Y:-0.58, Z:8.32
[[ 9.79992009e-01 -5.74373786e-02 -1.90569175e-01  4.46913028e+01]
 [ 5.91041232e-02  9.98247105e-01  3.06907700e-03 -5.77083775e-01]
 [ 1.90058848e-01 -1.42710949e-02  9.81668972e-01  8.32335155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.724860623999994 meters
Centerline goodness : 0.996421 with order 1
Centerline is valid?  [True, True]
Translation: X:44.75, Y:-0.57, Z:8.34
[[ 9.79864394e-01 -5.95744976e-02 -1.90569273e-01  4.47507418e+01]
 [ 6.12798678e-02  9.98115923e-01  3.06295951e-03 -5.68398267e-01]
 [ 1.90027752e-01 -1.46793448e-02  9.81668972e-01  8.33753475e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.784860624 meters
Centerline goodness : 0.995745 with order 1
Centerline is valid?  [True, True]
Translation: X:44.81, Y:-0.56, Z:8.35
[[ 9.79763485e-01 -6.12119561e-02 -1.90569173e-01  4.48107637e+01]
 [ 6.29490237e-02  9.98012024e-01  3.06915665e-03 -5.63819183e-01]
 [ 1.90002458e-01 -1.50031910e-02  9.81668972e-01  8.34961370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.844860624 meters
Centerline goodness : 0.995453 with order 1
Centerline is valid?  [True, True]
Translation: X:44.87, Y:-0.56, Z:8.36
[[ 9.79563189e-01 -6.43379627e-02 -1.90569108e-01  4.48696027e+01]
 [ 6.61340306e-02  9.97806016e-01  3.07319333e-03 -5.57115523e-01]
 [ 1.89953280e-01 -1.56134903e-02  9.81668972e-01  8.35863992e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.904860623999994 meters
Centerline goodness : 0.995765 with order 1
Centerline is valid?  [True, True]
Translation: X:44.93, Y:-0.55, Z:8.37
[[ 9.79485990e-01 -6.55026269e-02 -1.90569150e-01  4.49296258e+01]
 [ 6.73198810e-02  9.97726719e-01  3.07058777e-03 -5.51733246e-01]
 [ 1.89934801e-01 -1.58366902e-02  9.81668972e-01  8.36922551e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 45.964860623999996 meters
Centerline goodness : 0.995422 with order 1
Centerline is valid?  [True, True]
Translation: X:44.99, Y:-0.54, Z:8.38
[[ 9.79444596e-01 -6.61189961e-02 -1.90569045e-01  4.49908443e+01]
 [ 6.79489911e-02  9.97684051e-01  3.07712207e-03 -5.44415100e-01]
 [ 1.89924240e-01 -1.59628449e-02  9.81668972e-01  8.38103368e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.024860624 meters
Centerline goodness : 0.995044 with order 1
Centerline is valid?  [True, True]
Translation: X:45.05, Y:-0.54, Z:8.39
[[ 9.79441935e-01 -6.61590046e-02 -1.90568840e-01  4.50515910e+01]
 [ 6.79921892e-02  9.97681069e-01  3.08977499e-03 -5.36455650e-01]
 [ 1.89922507e-01 -1.59834478e-02  9.81668972e-01  8.39371373e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.084860623999994 meters
Centerline goodness : 0.994445 with order 1
Centerline is valid?  [True, True]
Translation: X:45.11, Y:-0.53, Z:8.40
[[ 9.79536630e-01 -6.47422896e-02 -1.90568694e-01  4.51131646e+01]
 [ 6.65508284e-02  9.97778224e-01  3.09876384e-03 -5.25189953e-01]
 [ 1.89944672e-01 -1.57178571e-02  9.81668972e-01  8.40452495e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.144860623999996 meters
Centerline goodness : 0.994978 with order 1
Centerline is valid?  [True, True]
Translation: X:45.17, Y:-0.51, Z:8.42
[[ 9.79396030e-01 -6.68361307e-02 -1.90568486e-01  4.51728966e+01]
 [ 6.86861157e-02  9.97633468e-01  3.11147029e-03 -5.14893539e-01]
 [ 1.89909541e-01 -1.61367707e-02  9.81668972e-01  8.41539495e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.204860624 meters
Centerline goodness : 0.995247 with order 1
Centerline is valid?  [True, True]
Translation: X:45.23, Y:-0.51, Z:8.43
[[ 9.79295738e-01 -6.82899203e-02 -1.90568476e-01  4.52333287e+01]
 [ 7.01670908e-02  9.97530398e-01  3.11206592e-03 -5.14151310e-01]
 [ 1.89885325e-01 -1.64192685e-02  9.81668972e-01  8.42677323e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.26486062399999 meters
Centerline goodness : 0.995297 with order 1
Centerline is valid?  [True, True]
Translation: X:45.29, Y:-0.51, Z:8.44
[[ 9.79202142e-01 -6.96193937e-02 -1.90568373e-01  4.52923284e+01]
 [ 7.15225429e-02  9.97434109e-01  3.11840455e-03 -5.13314142e-01]
 [ 1.89862294e-01 -1.66834830e-02  9.81668972e-01  8.43734922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.324860623999996 meters
Centerline goodness : 0.995468 with order 1
Centerline is valid?  [True, True]
Translation: X:45.35, Y:-0.51, Z:8.45
[[ 9.78789319e-01 -7.52014437e-02 -1.90568131e-01  4.53520689e+01]
 [ 7.72113492e-02  9.97009825e-01  3.13308231e-03 -5.09830002e-01]
 [ 1.89762687e-01 -1.77806500e-02  9.81668972e-01  8.44777038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.384860624 meters
Centerline goodness : 0.996137 with order 1
Centerline is valid?  [True, True]
Translation: X:45.41, Y:-0.51, Z:8.46
[[ 9.78387072e-01 -8.02653470e-02 -1.90568126e-01  4.54109854e+01]
 [ 8.23695679e-02  9.96596928e-01  3.13337930e-03 -5.07585443e-01]
 [ 1.89668108e-01 -1.87626720e-02  9.81668972e-01  8.46060150e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.44486062399999 meters
Centerline goodness : 0.995704 with order 1
Centerline is valid?  [True, True]
Translation: X:45.47, Y:-0.51, Z:8.47
[[ 9.78275516e-01 -8.16137991e-02 -1.90568106e-01  4.54715978e+01]
 [ 8.37433533e-02  9.96482426e-01  3.13460450e-03 -5.07084772e-01]
 [ 1.89641942e-01 -1.90253191e-02  9.81668972e-01  8.47297880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.504860623999996 meters
Centerline goodness : 0.996155 with order 1
Centerline is valid?  [True, True]
Translation: X:45.53, Y:-0.51, Z:8.49
[[ 9.78223190e-01 -8.22390767e-02 -1.90567901e-01  4.55320781e+01]
 [ 8.43826632e-02  9.96428453e-01  3.14702542e-03 -5.05096325e-01]
 [ 1.89628471e-01 -1.91591203e-02  9.81668972e-01  8.48526833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.564860624 meters
Centerline goodness : 0.996066 with order 1
Centerline is valid?  [True, True]
Translation: X:45.59, Y:-0.50, Z:8.50
[[ 9.78411263e-01 -7.99708448e-02 -1.90567741e-01  4.55929415e+01]
 [ 8.20740821e-02  9.96621232e-01  3.15669628e-03 -5.04058268e-01]
 [ 1.89671413e-01 -1.87292196e-02  9.81668972e-01  8.49629318e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.62486062399999 meters
Centerline goodness : 0.996442 with order 1
Centerline is valid?  [True, True]
Translation: X:45.65, Y:-0.50, Z:8.51
[[ 9.78941284e-01 -7.31982229e-02 -1.90567529e-01  4.56525069e+01]
 [ 7.51778590e-02  9.97165104e-01  3.16946034e-03 -5.01568221e-01]
 [ 1.89795291e-01 -1.74291744e-02  9.81668972e-01  8.50880035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.684860623999995 meters
Centerline goodness : 0.996394 with order 1
Centerline is valid?  [True, True]
Translation: X:45.71, Y:-0.50, Z:8.52
[[ 9.79563641e-01 -6.43358466e-02 -1.90567502e-01  4.57122530e+01]
 [ 6.61507921e-02  9.97804599e-01  3.17109238e-03 -4.97100319e-01]
 [ 1.89945115e-01 -1.57124780e-02  9.81668972e-01  8.52080121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.744860624 meters
Centerline goodness : 0.996198 with order 1
Centerline is valid?  [True, True]
Translation: X:45.77, Y:-0.49, Z:8.53
[[ 9.79852796e-01 -5.97707475e-02 -1.90567459e-01  4.57702058e+01]
 [ 6.15011775e-02  9.98101965e-01  3.17368023e-03 -4.93647138e-01]
 [ 1.90016062e-01 -1.48298625e-02  9.81668972e-01  8.53312054e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.80486062399999 meters
Centerline goodness : 0.996450 with order 1
Centerline is valid?  [True, True]
Translation: X:45.83, Y:-0.49, Z:8.55
[[ 9.79908106e-01 -5.88568361e-02 -1.90567512e-01  4.58299226e+01]
 [ 6.05696196e-02  9.98158940e-01  3.17044676e-03 -4.93546857e-01]
 [ 1.90030064e-01 -1.46493482e-02  9.81668972e-01  8.54747057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.864860623999995 meters
Centerline goodness : 0.996427 with order 1
Centerline is valid?  [True, True]
Translation: X:45.89, Y:-0.49, Z:8.56
[[ 9.79632428e-01 -6.32801065e-02 -1.90567402e-01  4.58879770e+01]
 [ 6.50765490e-02  9.97875217e-01  3.17707869e-03 -4.92153198e-01]
 [ 1.89961442e-01 -1.55138382e-02  9.81668972e-01  8.55933914e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.924860624 meters
Centerline goodness : 0.996757 with order 1
Centerline is valid?  [True, True]
Translation: X:45.95, Y:-0.49, Z:8.57
[[ 9.78993842e-01 -7.24924184e-02 -1.90567329e-01  4.59481419e+01]
 [ 7.44612224e-02  9.97218835e-01  3.18141170e-03 -4.94276126e-01]
 [ 1.89806702e-01 -1.73044588e-02  9.81668973e-01  8.56834531e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 46.98486062399999 meters
Centerline goodness : 0.996950 with order 1
Centerline is valid?  [True, True]
Translation: X:46.01, Y:-0.50, Z:8.58
[[ 9.78470899e-01 -7.92388850e-02 -1.90567308e-01  4.60077188e+01]
 [ 8.13335098e-02  9.96681860e-01  3.18267178e-03 -4.98972711e-01]
 [ 1.89682788e-01 -1.86136598e-02  9.81668973e-01  8.58093628e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.044860623999995 meters
Centerline goodness : 0.997052 with order 1
Centerline is valid?  [True, True]
Translation: X:46.07, Y:-0.50, Z:8.59
[[ 9.77665004e-01 -8.86298312e-02 -1.90567293e-01  4.60653487e+01]
 [ 9.08993822e-02  9.95854993e-01  3.18357292e-03 -5.00937328e-01]
 [ 1.89495231e-01 -2.04349171e-02  9.81668973e-01  8.59440798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.104860624 meters
Centerline goodness : 0.997039 with order 1
Centerline is valid?  [True, True]
Translation: X:46.12, Y:-0.50, Z:8.61
[[ 9.77087211e-01 -9.47878235e-02 -1.90567183e-01  4.61249918e+01]
 [ 9.71732022e-02  9.95262373e-01  3.19015538e-03 -5.04654980e-01]
 [ 1.89361959e-01 -2.16350835e-02  9.81668973e-01  8.60644360e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.16486062399999 meters
Centerline goodness : 0.997113 with order 1
Centerline is valid?  [True, True]
Translation: X:46.18, Y:-0.51, Z:8.62
[[ 9.76251630e-01 -1.03038377e-01 -1.90567173e-01  4.61843503e+01]
 [ 1.05577324e-01  9.94405977e-01  3.19077296e-03 -5.11731986e-01]
 [ 1.89172364e-01 -2.32345694e-02  9.81668973e-01  8.61912108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.224860623999994 meters
Centerline goodness : 0.997414 with order 1
Centerline is valid?  [True, True]
Translation: X:46.24, Y:-0.52, Z:8.63
[[ 9.75671480e-01 -1.08394326e-01 -1.90567135e-01  4.62435508e+01]
 [ 1.11033294e-01  9.93811558e-01  3.19302203e-03 -5.15718604e-01]
 [ 1.89041716e-01 -2.42746373e-02  9.81668973e-01  8.63466468e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.284860624 meters
Centerline goodness : 0.997450 with order 1
Centerline is valid?  [True, True]
Translation: X:46.30, Y:-0.52, Z:8.64
[[ 9.75485393e-01 -1.10056474e-01 -1.90567104e-01  4.63043121e+01]
 [ 1.12726705e-01  9.93620895e-01  3.19489437e-03 -5.20234286e-01]
 [ 1.88999837e-01 -2.45985744e-02  9.81668973e-01  8.64452056e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.344860624 meters
Centerline goodness : 0.997510 with order 1
Centerline is valid?  [True, True]
Translation: X:46.36, Y:-0.53, Z:8.66
[[ 9.75401124e-01 -1.10802089e-01 -1.90566379e-01  4.63634224e+01]
 [ 1.13494376e-01  9.93533364e-01  3.23755791e-03 -5.26070185e-01]
 [ 1.88975327e-01 -2.47861300e-02  9.81668973e-01  8.65585136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.404860623999994 meters
Centerline goodness : 0.997542 with order 1
Centerline is valid?  [True, True]
Translation: X:46.42, Y:-0.53, Z:8.67
[[ 9.75559381e-01 -1.09400048e-01 -1.90566325e-01  4.64223001e+01]
 [ 1.12066881e-01  9.93695382e-01  3.24072918e-03 -5.28860707e-01]
 [ 1.89010341e-01 -2.45176974e-02  9.81668973e-01  8.66980277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.464860623999996 meters
Centerline goodness : 0.997331 with order 1
Centerline is valid?  [True, True]
Translation: X:46.48, Y:-0.53, Z:8.68
[[ 9.75884508e-01 -1.06460831e-01 -1.90566309e-01  4.64816986e+01]
 [ 1.09073201e-01  9.94028434e-01  3.24167681e-03 -5.34722884e-01]
 [ 1.89083218e-01 -2.39491795e-02  9.81668973e-01  8.67863477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.524860624 meters
Centerline goodness : 0.997468 with order 1
Centerline is valid?  [True, True]
Translation: X:46.54, Y:-0.54, Z:8.69
[[ 9.76242293e-01 -1.03128448e-01 -1.90566282e-01  4.65413741e+01]
 [ 1.05679168e-01  9.94394989e-01  3.24328729e-03 -5.40400883e-01]
 [ 1.89163680e-01 -2.33051202e-02  9.81668973e-01  8.69035113e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.584860623999994 meters
Centerline goodness : 0.997160 with order 1
Centerline is valid?  [True, True]
Translation: X:46.60, Y:-0.54, Z:8.70
[[ 9.76673940e-01 -9.89571631e-02 -1.90566247e-01  4.66002290e+01]
 [ 1.01430707e-01  9.94837313e-01  3.24532893e-03 -5.43852174e-01]
 [ 1.89261264e-01 -2.24988974e-02  9.81668973e-01  8.70431704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.644860623999996 meters
Centerline goodness : 0.997455 with order 1
Centerline is valid?  [True, True]
Translation: X:46.66, Y:-0.55, Z:8.72
[[ 9.76890148e-01 -9.67994924e-02 -1.90566252e-01  4.66589211e+01]
 [ 9.92328455e-02  9.95058949e-01  3.24500249e-03 -5.48920559e-01]
 [ 1.89310540e-01 -2.20804424e-02  9.81668973e-01  8.71749838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.704860624 meters
Centerline goodness : 0.997232 with order 1
Centerline is valid?  [True, True]
Translation: X:46.72, Y:-0.56, Z:8.73
[[ 9.77151641e-01 -9.41231803e-02 -1.90566255e-01  4.67180965e+01]
 [ 9.65067255e-02  9.95327043e-01  3.24484761e-03 -5.56095982e-01]
 [ 1.89370332e-01 -2.15616334e-02  9.81668973e-01  8.72667624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.76486062399999 meters
Centerline goodness : 0.997370 with order 1
Centerline is valid?  [True, True]
Translation: X:46.78, Y:-0.56, Z:8.74
[[ 9.77481066e-01 -9.06380371e-02 -1.90566292e-01  4.67775560e+01]
 [ 9.29563395e-02  9.95664905e-01  3.24269965e-03 -5.61386129e-01]
 [ 1.89446257e-01 -2.08840224e-02  9.81668973e-01  8.73653880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.824860623999996 meters
Centerline goodness : 0.997430 with order 1
Centerline is valid?  [True, True]
Translation: X:46.84, Y:-0.57, Z:8.75
[[ 9.77668878e-01 -8.85892788e-02 -1.90566274e-01  4.68371295e+01]
 [ 9.08696622e-02  9.95857511e-01  3.24371164e-03 -5.66654860e-01]
 [ 1.89489498e-01 -2.04879689e-02  9.81668973e-01  8.74721771e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.884860624 meters
Centerline goodness : 0.997259 with order 1
Centerline is valid?  [True, True]
Translation: X:46.90, Y:-0.57, Z:8.76
[[ 9.77808929e-01 -8.70299554e-02 -1.90566220e-01  4.68961234e+01]
 [ 8.92819378e-02  9.96001101e-01  3.24687473e-03 -5.72187477e-01]
 [ 1.89521590e-01 -2.01889446e-02  9.81668973e-01  8.76015162e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 47.94486062399999 meters
Centerline goodness : 0.997261 with order 1
Centerline is valid?  [True, True]
Translation: X:46.96, Y:-0.58, Z:8.77
[[ 9.77902241e-01 -8.59751278e-02 -1.90566220e-01  4.69563215e+01]
 [ 8.82074848e-02  9.96096831e-01  3.24687473e-03 -5.75695558e-01]
 [ 1.89543258e-01 -1.99844931e-02  9.81668973e-01  8.77237134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.004860623999996 meters
Centerline goodness : 0.997500 with order 1
Centerline is valid?  [True, True]
Translation: X:47.02, Y:-0.58, Z:8.78
[[ 9.78073079e-01 -8.40095892e-02 -1.90566109e-01  4.70162337e+01]
 [ 8.62066319e-02  9.96271967e-01  3.25339669e-03 -5.80376026e-01]
 [ 1.89582356e-01 -1.96101221e-02  9.81668973e-01  8.78210300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.064860624 meters
Centerline goodness : 0.997381 with order 1
Centerline is valid?  [True, True]
Translation: X:47.08, Y:-0.58, Z:8.80
[[ 9.78188786e-01 -8.26517911e-02 -1.90565946e-01  4.70757750e+01]
 [ 8.48254077e-02  9.96390487e-01  3.26293436e-03 -5.83610957e-01]
 [ 1.89608408e-01 -1.93565998e-02  9.81668974e-01  8.79528017e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.12486062399999 meters
Centerline goodness : 0.997125 with order 1
Centerline is valid?  [True, True]
Translation: X:47.13, Y:-0.59, Z:8.81
[[ 9.78430034e-01 -7.97452834e-02 -1.90565891e-01  4.71347801e+01]
 [ 8.18654342e-02  9.96638040e-01  3.26614901e-03 -5.86519940e-01]
 [ 1.89664756e-01 -1.87964577e-02  9.81668974e-01  8.80886643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.184860623999995 meters
Centerline goodness : 0.997132 with order 1
Centerline is valid?  [True, True]
Translation: X:47.19, Y:-0.59, Z:8.82
[[ 9.78713168e-01 -7.61916961e-02 -1.90565892e-01  4.71944338e+01]
 [ 7.82456948e-02  9.96928756e-01  3.26605727e-03 -5.89601902e-01]
 [ 1.89731771e-01 -1.81074939e-02  9.81668974e-01  8.82068815e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.244860624 meters
Centerline goodness : 0.997060 with order 1
Centerline is valid?  [True, True]
Translation: X:47.25, Y:-0.59, Z:8.83
[[ 9.78896160e-01 -7.38034949e-02 -1.90565875e-01  4.72526001e+01]
 [ 7.58132368e-02  9.97116683e-01  3.26706106e-03 -5.92833393e-01]
 [ 1.89775293e-01 -1.76455293e-02  9.81668974e-01  8.83240580e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.30486062399999 meters
Centerline goodness : 0.996929 with order 1
Centerline is valid?  [True, True]
Translation: X:47.31, Y:-0.60, Z:8.84
[[ 9.78928561e-01 -7.33723539e-02 -1.90565918e-01  4.73131084e+01]
 [ 7.53735848e-02  9.97150022e-01  3.26454346e-03 -5.95315266e-01]
 [ 1.89783282e-01 -1.75593912e-02  9.81668974e-01  8.84457225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.364860623999995 meters
Centerline goodness : 0.996717 with order 1
Centerline is valid?  [True, True]
Translation: X:47.37, Y:-0.60, Z:8.85
[[ 9.78777848e-01 -7.53569205e-02 -1.90565628e-01  4.73723677e+01]
 [ 7.73983444e-02  9.96994849e-01  3.28140721e-03 -6.00078591e-01]
 [ 1.89745673e-01 -1.79612328e-02  9.81668974e-01  8.85470407e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.424860624 meters
Centerline goodness : 0.996701 with order 1
Centerline is valid?  [True, True]
Translation: X:47.43, Y:-0.60, Z:8.87
[[ 9.78600491e-01 -7.76261853e-02 -1.90565616e-01  4.74338598e+01]
 [ 7.97099777e-02  9.96812694e-01  3.28210553e-03 -6.03000259e-01]
 [ 1.89703448e-01 -1.84018511e-02  9.81668974e-01  8.86570183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.48486062399999 meters
Centerline goodness : 0.996571 with order 1
Centerline is valid?  [True, True]
Translation: X:47.49, Y:-0.61, Z:8.88
[[ 9.78209739e-01 -8.24047198e-02 -1.90565395e-01  4.74925982e+01]
 [ 8.45799035e-02  9.96411252e-01  3.29490654e-03 -6.07029271e-01]
 [ 1.89609988e-01 -1.93411123e-02  9.81668974e-01  8.87655605e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.544860623999995 meters
Centerline goodness : 0.996481 with order 1
Centerline is valid?  [True, True]
Translation: X:47.55, Y:-0.61, Z:8.89
[[ 9.77836299e-01 -8.67236196e-02 -1.90565439e-01  4.75519805e+01]
 [ 8.89786633e-02  9.96028091e-01  3.29233609e-03 -6.11370768e-01]
 [ 1.89523007e-01 -2.01756238e-02  9.81668974e-01  8.88923388e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.604860624 meters
Centerline goodness : 0.996469 with order 1
Centerline is valid?  [True, True]
Translation: X:47.61, Y:-0.62, Z:8.90
[[ 9.77138747e-01 -9.42586534e-02 -1.90565409e-01  4.76115513e+01]
 [ 9.66541963e-02  9.95312572e-01  3.29407948e-03 -6.16449710e-01]
 [ 1.89361652e-01 -2.16377191e-02  9.81668974e-01  8.90165569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.66486062399999 meters
Centerline goodness : 0.996284 with order 1
Centerline is valid?  [True, True]
Translation: X:47.67, Y:-0.62, Z:8.91
[[ 9.76598774e-01 -9.96978765e-02 -1.90565392e-01  4.76703092e+01]
 [ 1.02194758e-01  9.94758953e-01  3.29503569e-03 -6.20683412e-01]
 [ 1.89238122e-01 -2.26927119e-02  9.81668974e-01  8.91121680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.724860623999994 meters
Centerline goodness : 0.996385 with order 1
Centerline is valid?  [True, True]
Translation: X:47.73, Y:-0.62, Z:8.92
[[ 9.76468640e-01 -1.00964537e-01 -1.90565364e-01  4.77315667e+01]
 [ 1.03485291e-01  9.94625521e-01  3.29669608e-03 -6.23234098e-01]
 [ 1.89208325e-01 -2.29398324e-02  9.81668974e-01  8.92397994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.784860624 meters
Centerline goodness : 0.996681 with order 1
Centerline is valid?  [True, True]
Translation: X:47.79, Y:-0.63, Z:8.94
[[ 9.76219571e-01 -1.03345438e-01 -1.90565134e-01  4.77900858e+01]
 [ 1.05913003e-01  9.94369891e-01  3.30991459e-03 -6.27984499e-01]
 [ 1.89150167e-01 -2.34145291e-02  9.81668974e-01  8.93616398e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.84486062399999 meters
Centerline goodness : 0.996489 with order 1
Centerline is valid?  [True, True]
Translation: X:47.85, Y:-0.63, Z:8.95
[[ 9.76155361e-01 -1.03950107e-01 -1.90565177e-01  4.78503052e+01]
 [ 1.06528435e-01  9.94304155e-01  3.30742411e-03 -6.31216727e-01]
 [ 1.89135940e-01 -2.35291699e-02  9.81668974e-01  8.94979175e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.904860623999994 meters
Centerline goodness : 0.996407 with order 1
Centerline is valid?  [True, True]
Translation: X:47.91, Y:-0.64, Z:8.96
[[ 9.76197146e-01 -1.03557388e-01 -1.90564950e-01  4.79107154e+01]
 [ 1.06130918e-01  9.94346621e-01  3.32044460e-03 -6.37409355e-01]
 [ 1.89143758e-01 -2.34662416e-02  9.81668974e-01  8.96157117e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 48.964860623999996 meters
Centerline goodness : 0.996296 with order 1
Centerline is valid?  [True, True]
Translation: X:47.97, Y:-0.64, Z:8.97
[[ 9.76236275e-01 -1.03188177e-01 -1.90564779e-01  4.79696647e+01]
 [ 1.05756732e-01  9.94386456e-01  3.33027032e-03 -6.44986801e-01]
 [ 1.89151390e-01 -2.34046389e-02  9.81668974e-01  8.97225708e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.024860624 meters
Centerline goodness : 0.996419 with order 1
Centerline is valid?  [True, True]
Translation: X:48.03, Y:-0.65, Z:8.99
[[ 9.76372704e-01 -1.01889197e-01 -1.90564779e-01  4.80287055e+01]
 [ 1.04433600e-01  9.94526285e-01  3.33027032e-03 -6.52685813e-01]
 [ 1.89182363e-01 -2.31529510e-02  9.81668974e-01  8.98530658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.084860623999994 meters
Centerline goodness : 0.996434 with order 1
Centerline is valid?  [True, True]
Translation: X:48.09, Y:-0.66, Z:9.00
[[ 9.76497040e-01 -1.00690597e-01 -1.90564780e-01  4.80895042e+01]
 [ 1.03212703e-01  9.94653733e-01  3.33021247e-03 -6.57605658e-01]
 [ 1.89210648e-01 -2.29206487e-02  9.81668974e-01  8.99674852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.144860623999996 meters
Centerline goodness : 0.996689 with order 1
Centerline is valid?  [True, True]
Translation: X:48.15, Y:-0.66, Z:9.01
[[ 9.76807594e-01 -9.76322453e-02 -1.90564604e-01  4.81488038e+01]
 [ 1.00099406e-01  9.94971835e-01  3.34020965e-03 -6.63620853e-01]
 [ 1.89280302e-01 -2.23381459e-02  9.81668974e-01  9.00601209e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.204860624 meters
Centerline goodness : 0.995986 with order 1
Centerline is valid?  [True, True]
Translation: X:48.21, Y:-0.67, Z:9.02
[[ 9.77089755e-01 -9.47667668e-02 -1.90564608e-01  4.82084567e+01]
 [ 9.71806042e-02  9.95261159e-01  3.34002572e-03 -6.66956345e-01]
 [ 1.89345029e-01 -2.17826886e-02  9.81668974e-01  9.01736229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.26486062399999 meters
Centerline goodness : 0.996069 with order 1
Centerline is valid?  [True, True]
Translation: X:48.27, Y:-0.67, Z:9.03
[[ 9.77452148e-01 -9.09530053e-02 -1.90564556e-01  4.82675210e+01]
 [ 9.32964834e-02  9.95632759e-01  3.34299597e-03 -6.71058687e-01]
 [ 1.89428259e-01 -2.10466215e-02  9.81668974e-01  9.02765624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.324860623999996 meters
Centerline goodness : 0.995804 with order 1
Centerline is valid?  [True, True]
Translation: X:48.33, Y:-0.67, Z:9.04
[[ 9.77759607e-01 -8.75860524e-02 -1.90564516e-01  4.83266922e+01]
 [ 8.98673368e-02  9.95948127e-01  3.34525599e-03 -6.74690393e-01]
 [ 1.89499375e-01 -2.03963817e-02  9.81668974e-01  9.04014984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.384860624 meters
Centerline goodness : 0.996061 with order 1
Centerline is valid?  [True, True]
Translation: X:48.39, Y:-0.68, Z:9.05
[[ 9.77843795e-01 -8.66410795e-02 -1.90564522e-01  4.83872395e+01]
 [ 8.89047226e-02  9.96034518e-01  3.34493205e-03 -6.76832690e-01]
 [ 1.89519033e-01 -2.02129070e-02  9.81668974e-01  9.05250672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.44486062399999 meters
Centerline goodness : 0.996483 with order 1
Centerline is valid?  [True, True]
Translation: X:48.45, Y:-0.68, Z:9.06
[[ 9.77925130e-01 -8.57186725e-02 -1.90564293e-01  4.84461623e+01]
 [ 8.79676606e-02  9.96117671e-01  3.35792942e-03 -6.80316160e-01]
 [ 1.89536622e-01 -2.00472986e-02  9.81668974e-01  9.06247169e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.504860623999996 meters
Centerline goodness : 0.996509 with order 1
Centerline is valid?  [True, True]
Translation: X:48.51, Y:-0.68, Z:9.07
[[ 9.78062939e-01 -8.41315668e-02 -1.90564339e-01  4.85076107e+01]
 [ 8.63505257e-02  9.96259167e-01  3.35531971e-03 -6.83025599e-01]
 [ 1.89569181e-01 -1.97370447e-02  9.81668974e-01  9.07396819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.564860624 meters
Centerline goodness : 0.996371 with order 1
Centerline is valid?  [True, True]
Translation: X:48.57, Y:-0.68, Z:9.09
[[ 9.78194548e-01 -8.25877920e-02 -1.90564116e-01  4.85660475e+01]
 [ 8.47804563e-02  9.96393964e-01  3.36790962e-03 -6.84391679e-01]
 [ 1.89598787e-01 -1.94505835e-02  9.81668974e-01  9.08630562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.62486062399999 meters
Centerline goodness : 0.996324 with order 1
Centerline is valid?  [True, True]
Translation: X:48.63, Y:-0.69, Z:9.10
[[ 9.78280657e-01 -8.15614764e-02 -1.90564116e-01  4.86264659e+01]
 [ 8.37350456e-02  9.96482363e-01  3.36790962e-03 -6.86558535e-01]
 [ 1.89619089e-01 -1.92516558e-02  9.81668974e-01  9.09898363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.684860623999995 meters
Centerline goodness : 0.996066 with order 1
Centerline is valid?  [True, True]
Translation: X:48.69, Y:-0.69, Z:9.11
[[ 9.78293525e-01 -8.14075060e-02 -1.90563891e-01  4.86876144e+01]
 [ 8.35806540e-02  9.96495281e-01  3.38058283e-03 -6.89147507e-01]
 [ 1.89620814e-01 -1.92346570e-02  9.81668974e-01  9.10964481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.744860624 meters
Centerline goodness : 0.996020 with order 1
Centerline is valid?  [True, True]
Translation: X:48.75, Y:-0.69, Z:9.12
[[ 9.78302104e-01 -8.13048738e-02 -1.90563666e-01  4.87473942e+01]
 [ 8.34785551e-02  9.96503797e-01  3.39325242e-03 -6.90306912e-01]
 [ 1.89621528e-01 -1.92276054e-02  9.81668974e-01  9.12128245e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.80486062399999 meters
Centerline goodness : 0.995935 with order 1
Centerline is valid?  [True, True]
Translation: X:48.81, Y:-0.69, Z:9.13
[[ 9.78235051e-01 -8.21078349e-02 -1.90563608e-01  4.88068642e+01]
 [ 8.42970825e-02  9.96434878e-01  3.39650534e-03 -6.93445112e-01]
 [ 1.89605345e-01 -1.93865367e-02  9.81668974e-01  9.13273439e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.864860623999995 meters
Centerline goodness : 0.995937 with order 1
Centerline is valid?  [True, True]
Translation: X:48.87, Y:-0.70, Z:9.14
[[ 9.78173568e-01 -8.28373812e-02 -1.90563478e-01  4.88683618e+01]
 [ 8.50415986e-02  9.96371588e-01  3.40375281e-03 -6.95031585e-01]
 [ 1.89590077e-01 -1.95352839e-02  9.81668974e-01  9.14298897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.924860624 meters
Centerline goodness : 0.996277 with order 1
Centerline is valid?  [True, True]
Translation: X:48.93, Y:-0.70, Z:9.15
[[ 9.77969195e-01 -8.52167938e-02 -1.90563248e-01  4.89284307e+01]
 [ 8.74677485e-02  9.96161493e-01  3.41658230e-03 -6.97324468e-01]
 [ 1.89540620e-01 -2.00094505e-02  9.81668974e-01  9.15294518e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 49.98486062399999 meters
Centerline goodness : 0.996009 with order 1
Centerline is valid?  [True, True]
Translation: X:48.99, Y:-0.70, Z:9.16
[[ 9.77749619e-01 -8.77002507e-02 -1.90563238e-01  4.89871002e+01]
 [ 8.99975070e-02  9.95936128e-01  3.41713422e-03 -7.00574565e-01]
 [ 1.89489130e-01 -2.04913181e-02  9.81668974e-01  9.16473350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.044860623999995 meters
Centerline goodness : 0.996174 with order 1
Centerline is valid?  [True, True]
Translation: X:49.05, Y:-0.70, Z:9.18
[[ 9.77526615e-01 -9.01518249e-02 -1.90563286e-01  4.90463472e+01]
 [ 9.24941625e-02  9.95707372e-01  3.41445012e-03 -7.02293998e-01]
 [ 1.89437450e-01 -2.09637075e-02  9.81668974e-01  9.17900228e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.104860624 meters
Centerline goodness : 0.996503 with order 1
Centerline is valid?  [True, True]
Translation: X:49.11, Y:-0.70, Z:9.19
[[ 9.77378956e-01 -9.17389415e-02 -1.90563228e-01  4.91066200e+01]
 [ 9.41114265e-02  9.95555804e-01  3.41772218e-03 -7.04831948e-01]
 [ 1.89402789e-01 -2.12745869e-02  9.81668974e-01  9.18925460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.16486062399999 meters
Centerline goodness : 0.996171 with order 1
Centerline is valid?  [True, True]
Translation: X:49.17, Y:-0.71, Z:9.20
[[ 9.77242689e-01 -9.31796660e-02 -1.90563054e-01  4.91655376e+01]
 [ 9.55808075e-02  9.95415774e-01  3.42740132e-03 -7.07628154e-01]
 [ 1.89370105e-01 -2.15635734e-02  9.81668975e-01  9.20010370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.224860623999994 meters
Centerline goodness : 0.996542 with order 1
Centerline is valid?  [True, True]
Translation: X:49.23, Y:-0.71, Z:9.21
[[ 9.77253086e-01 -9.30705546e-02 -1.90563054e-01  4.92261006e+01]
 [ 9.54696671e-02  9.95426439e-01  3.42740132e-03 -7.10817995e-01]
 [ 1.89372512e-01 -2.15424298e-02  9.81668975e-01  9.21240299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.284860624 meters
Centerline goodness : 0.996358 with order 1
Centerline is valid?  [True, True]
Translation: X:49.29, Y:-0.71, Z:9.22
[[ 9.77527112e-01 -9.01474262e-02 -1.90562816e-01  4.92869020e+01]
 [ 9.24947084e-02  9.95707232e-01  3.44054992e-03 -7.11003419e-01]
 [ 1.89434618e-01 -2.09892829e-02  9.81668975e-01  9.22460370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.34486062399999 meters
Centerline goodness : 0.996347 with order 1
Centerline is valid?  [True, True]
Translation: X:49.35, Y:-0.71, Z:9.24
[[ 9.77936745e-01 -8.55897411e-02 -1.90562637e-01  4.93468581e+01]
 [ 8.78541623e-02  9.96127372e-01  3.45046499e-03 -7.10395693e-01]
 [ 1.89529334e-01 -2.01160573e-02  9.81668975e-01  9.23632618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.404860623999994 meters
Centerline goodness : 0.996251 with order 1
Centerline is valid?  [True, True]
Translation: X:49.41, Y:-0.71, Z:9.25
[[ 9.78206927e-01 -8.24444977e-02 -1.90562622e-01  4.94051021e+01]
 [ 8.46505711e-02  9.96404722e-01  3.45129706e-03 -7.11445643e-01]
 [ 1.89592956e-01 -1.95073174e-02  9.81668975e-01  9.24781153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.464860623999996 meters
Centerline goodness : 0.996099 with order 1
Centerline is valid?  [True, True]
Translation: X:49.46, Y:-0.71, Z:9.26
[[ 9.78365316e-01 -8.05429516e-02 -1.90562694e-01  4.94647398e+01]
 [ 8.27128757e-02  9.96567457e-01  3.44728715e-03 -7.10435647e-01]
 [ 1.89630925e-01 -1.91346946e-02  9.81668975e-01  9.25838237e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.52486062399999 meters
Centerline goodness : 0.996100 with order 1
Centerline is valid?  [True, True]
Translation: X:49.52, Y:-0.71, Z:9.27
[[ 9.78428788e-01 -7.97683398e-02 -1.90562638e-01  4.95243138e+01]
 [ 8.19244563e-02  9.96632569e-01  3.45041927e-03 -7.10022676e-01]
 [ 1.89645697e-01 -1.89877300e-02  9.81668975e-01  9.26931763e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.584860623999994 meters
Centerline goodness : 0.996108 with order 1
Centerline is valid?  [True, True]
Translation: X:49.58, Y:-0.71, Z:9.28
[[ 9.78398684e-01 -8.01367757e-02 -1.90562619e-01  4.95843467e+01]
 [ 8.22999456e-02  9.96601629e-01  3.45145008e-03 -7.10073513e-01]
 [ 1.89638428e-01 -1.90601874e-02  9.81668975e-01  9.28215633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.644860623999996 meters
Centerline goodness : 0.996766 with order 1
Centerline is valid?  [True, True]
Translation: X:49.64, Y:-0.71, Z:9.29
[[ 9.78314164e-01 -8.11623640e-02 -1.90562503e-01  4.96444799e+01]
 [ 8.33458499e-02  9.96514683e-01  3.45785798e-03 -7.09608833e-01]
 [ 1.89617684e-01 -1.92654652e-02  9.81668975e-01  9.29260598e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.704860624 meters
Centerline goodness : 0.996647 with order 1
Centerline is valid?  [True, True]
Translation: X:49.71, Y:-0.71, Z:9.31
[[ 9.78293140e-01 -8.14157817e-02 -1.90562331e-01  4.97054770e+01]
 [ 8.36058021e-02  9.96492874e-01  3.46729799e-03 -7.10115951e-01]
 [ 1.89611712e-01 -1.93241504e-02  9.81668975e-01  9.30608237e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.76486062399999 meters
Centerline goodness : 0.997038 with order 1
Centerline is valid?  [True, True]
Translation: X:49.77, Y:-0.71, Z:9.32
[[ 9.78232687e-01 -8.21394855e-02 -1.90562104e-01  4.97663746e+01]
 [ 8.43453637e-02  9.96430505e-01  3.47971972e-03 -7.10236669e-01]
 [ 1.89596071e-01 -1.94770055e-02  9.81668975e-01  9.31830818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.824860623999996 meters
Centerline goodness : 0.997188 with order 1
Centerline is valid?  [True, True]
Translation: X:49.83, Y:-0.71, Z:9.33
[[ 9.78304656e-01 -8.12783567e-02 -1.90561878e-01  4.98270949e+01]
 [ 8.34705904e-02  9.96504123e-01  3.49203948e-03 -7.10849377e-01]
 [ 1.89611870e-01 -1.93225910e-02  9.81668975e-01  9.32911082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.884860624 meters
Centerline goodness : 0.997356 with order 1
Centerline is valid?  [True, True]
Translation: X:49.89, Y:-0.71, Z:9.34
[[ 9.78545722e-01 -7.83230833e-02 -1.90561710e-01  4.98865056e+01]
 [ 8.04621025e-02  9.96751520e-01  3.50119591e-03 -7.11937279e-01]
 [ 1.89668450e-01 -1.87590761e-02  9.81668975e-01  9.34360307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 50.94486062399999 meters
Centerline goodness : 0.997113 with order 1
Centerline is valid?  [True, True]
Translation: X:49.95, Y:-0.71, Z:9.36
[[ 9.78696864e-01 -7.64114124e-02 -1.90561654e-01  4.99460028e+01]
 [ 7.85154532e-02  9.96906738e-01  3.50425124e-03 -7.10878375e-01]
 [ 1.89704432e-01 -1.83916343e-02  9.81668975e-01  9.35867326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.004860623999996 meters
Centerline goodness : 0.997259 with order 1
Centerline is valid?  [True, True]
Translation: X:50.01, Y:-0.71, Z:9.37
[[ 9.78680525e-01 -7.66205570e-02 -1.90561590e-01  5.00061438e+01]
 [ 7.87291544e-02  9.96889872e-01  3.50770000e-03 -7.12779143e-01]
 [ 1.89700157e-01 -1.84356705e-02  9.81668975e-01  9.36948005e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.064860624 meters
Centerline goodness : 0.997402 with order 1
Centerline is valid?  [True, True]
Translation: X:50.07, Y:-0.72, Z:9.38
[[ 9.78499430e-01 -7.89000205e-02 -1.90561415e-01  5.00658722e+01]
 [ 8.10528632e-02  9.96703598e-01  3.51721823e-03 -7.15208107e-01]
 [ 1.89655739e-01 -1.88871443e-02  9.81668975e-01  9.37969994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.12486062399999 meters
Centerline goodness : 0.997697 with order 1
Centerline is valid?  [True, True]
Translation: X:50.13, Y:-0.72, Z:9.39
[[ 9.78111378e-01 -8.35733321e-02 -1.90561358e-01  5.01256679e+01]
 [ 8.58137058e-02  9.96304981e-01  3.52030987e-03 -7.17100138e-01]
 [ 1.89563026e-01 -1.97960314e-02  9.81668975e-01  9.39121153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.184860623999995 meters
Centerline goodness : 0.997813 with order 1
Centerline is valid?  [True, True]
Translation: X:50.19, Y:-0.72, Z:9.40
[[ 9.77844783e-01 -8.66370090e-02 -1.90561299e-01  5.01856496e+01]
 [ 8.89349764e-02  9.96031202e-01  3.52347752e-03 -7.18831474e-01]
 [ 1.89499736e-01 -2.03929787e-02  9.81668975e-01  9.40172700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.244860624 meters
Centerline goodness : 0.997813 with order 1
Centerline is valid?  [True, True]
Translation: X:50.25, Y:-0.72, Z:9.41
[[ 9.77596633e-01 -8.93936491e-02 -1.90561274e-01  5.02452425e+01]
 [ 9.17431458e-02  9.95776466e-01  3.52484209e-03 -7.19932274e-01]
 [ 1.89441333e-01 -2.09285645e-02  9.81668975e-01  9.41360210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.30486062399999 meters
Centerline goodness : 0.997584 with order 1
Centerline is valid?  [True, True]
Translation: X:50.31, Y:-0.72, Z:9.42
[[ 9.77432148e-01 -9.11746310e-02 -1.90561232e-01  5.03055700e+01]
 [ 9.35576825e-02  9.95607613e-01  3.52710650e-03 -7.21263677e-01]
 [ 1.89402631e-01 -2.12759745e-02  9.81668975e-01  9.42491517e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.364860623999995 meters
Centerline goodness : 0.997837 with order 1
Centerline is valid?  [True, True]
Translation: X:50.37, Y:-0.72, Z:9.44
[[ 9.77286348e-01 -9.27247400e-02 -1.90561055e-01  5.03651661e+01]
 [ 9.51384470e-02  9.95457768e-01  3.53662376e-03 -7.22454069e-01]
 [ 1.89367550e-01 -2.15859770e-02  9.81668975e-01  9.43851850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.424860624 meters
Centerline goodness : 0.997914 with order 1
Centerline is valid?  [True, True]
Translation: X:50.42, Y:-0.73, Z:9.45
[[ 9.77012978e-01 -9.55622748e-02 -1.90560996e-01  5.04244075e+01]
 [ 9.80293484e-02  9.95177229e-01  3.53978951e-03 -7.25539332e-01]
 [ 1.89303694e-01 -2.21389906e-02  9.81668975e-01  9.45132267e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.48486062399999 meters
Centerline goodness : 0.997941 with order 1
Centerline is valid?  [True, True]
Translation: X:50.48, Y:-0.73, Z:9.46
[[ 9.76835836e-01 -9.73564001e-02 -1.90560966e-01  5.04839752e+01]
 [ 9.98571483e-02  9.94995481e-01  3.54145293e-03 -7.27677996e-01]
 [ 1.89262517e-01 -2.24882927e-02  9.81668975e-01  9.46318093e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.544860623999995 meters
Centerline goodness : 0.997997 with order 1
Centerline is valid?  [True, True]
Translation: X:50.54, Y:-0.73, Z:9.47
[[ 9.76594756e-01 -9.97456998e-02 -1.90560955e-01  5.05435357e+01]
 [ 1.02290973e-01  9.94748215e-01  3.54202081e-03 -7.31577170e-01]
 [ 1.89206868e-01 -2.29517844e-02  9.81668975e-01  9.47347093e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.604860624 meters
Centerline goodness : 0.998187 with order 1
Centerline is valid?  [True, True]
Translation: X:50.61, Y:-0.74, Z:9.48
[[ 9.76609804e-01 -9.95982847e-02 -1.90560941e-01  5.06050604e+01]
 [ 1.02140964e-01  9.94763626e-01  3.54278143e-03 -7.35191218e-01]
 [ 1.89210238e-01 -2.29239932e-02  9.81668975e-01  9.48478498e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.66486062399999 meters
Centerline goodness : 0.998529 with order 1
Centerline is valid?  [True, True]
Translation: X:50.67, Y:-0.74, Z:9.50
[[ 9.76733736e-01 -9.83759536e-02 -1.90560702e-01  5.06655847e+01]
 [ 1.00898375e-01  9.94890384e-01  3.55559457e-03 -7.36510791e-01]
 [ 1.89237225e-01 -2.27001343e-02  9.81668975e-01  9.49565310e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.724860623999994 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:50.72, Y:-0.74, Z:9.51
[[ 9.76884355e-01 -9.68690928e-02 -1.90560581e-01  5.07248591e+01]
 [ 9.93647472e-02  9.95044702e-01  3.56206650e-03 -7.36406756e-01]
 [ 1.89271242e-01 -2.24147310e-02  9.81668975e-01  9.50726788e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.784860624 meters
Centerline goodness : 0.998368 with order 1
Centerline is valid?  [True, True]
Translation: X:50.78, Y:-0.74, Z:9.52
[[ 9.77078240e-01 -9.48935516e-02 -1.90560561e-01  5.07837124e+01]
 [ 9.73526845e-02  9.95243568e-01  3.56313341e-03 -7.37559728e-01]
 [ 1.89316054e-01 -2.20330423e-02  9.81668975e-01  9.52044415e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.84486062399999 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:50.84, Y:-0.74, Z:9.53
[[ 9.77190940e-01 -9.37258693e-02 -1.90560561e-01  5.08422602e+01]
 [ 9.61632927e-02  9.95359194e-01  3.56313341e-03 -7.37452322e-01]
 [ 1.89342248e-01 -2.18067927e-02  9.81668975e-01  9.53120236e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.904860623999994 meters
Centerline goodness : 0.998357 with order 1
Centerline is valid?  [True, True]
Translation: X:50.90, Y:-0.74, Z:9.54
[[ 9.77381929e-01 -9.17126811e-02 -1.90560620e-01  5.09033267e+01]
 [ 9.41120655e-02  9.95555245e-01  3.55997675e-03 -7.36626549e-01]
 [ 1.89387130e-01 -2.14135105e-02  9.81668975e-01  9.54120490e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 51.964860623999996 meters
Centerline goodness : 0.998769 with order 1
Centerline is valid?  [True, True]
Translation: X:50.96, Y:-0.74, Z:9.55
[[ 9.77523768e-01 -9.01888101e-02 -1.90560388e-01  5.09625266e+01]
 [ 9.25622409e-02  9.95700492e-01  3.57234718e-03 -7.36737058e-01]
 [ 1.89418886e-01 -2.11307508e-02  9.81668975e-01  9.55294273e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.02486062399999 meters
Centerline goodness : 0.998858 with order 1
Centerline is valid?  [True, True]
Translation: X:51.02, Y:-0.74, Z:9.56
[[ 9.77627749e-01 -8.90546988e-02 -1.90560347e-01  5.10212157e+01]
 [ 9.14074634e-02  9.95807159e-01  3.57454264e-03 -7.36405911e-01]
 [ 1.89443028e-01 -2.09132100e-02  9.81668975e-01  9.56427519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.084860623999994 meters
Centerline goodness : 0.998906 with order 1
Centerline is valid?  [True, True]
Translation: X:51.08, Y:-0.74, Z:9.58
[[ 9.77713113e-01 -8.81124751e-02 -1.90560385e-01  5.10818084e+01]
 [ 9.04473221e-02  9.95894833e-01  3.57248508e-03 -7.36558361e-01]
 [ 1.89463323e-01 -2.07285420e-02  9.81668975e-01  9.57609658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.144860623999996 meters
Centerline goodness : 0.999067 with order 1
Centerline is valid?  [True, True]
Translation: X:51.14, Y:-0.74, Z:9.59
[[ 9.77711661e-01 -8.81291003e-02 -1.90560146e-01  5.11414905e+01]
 [ 9.04667024e-02  9.95893027e-01  3.58518485e-03 -7.36448627e-01]
 [ 1.89461562e-01 -2.07446251e-02  9.81668975e-01  9.58922185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.20486062399999 meters
Centerline goodness : 0.998969 with order 1
Centerline is valid?  [True, True]
Translation: X:51.20, Y:-0.74, Z:9.60
[[ 9.77620943e-01 -8.91300715e-02 -1.90560023e-01  5.12008809e+01]
 [ 9.14875484e-02  9.95799743e-01  3.59173438e-03 -7.36914838e-01]
 [ 1.89439490e-01 -2.09452241e-02  9.81668975e-01  9.59989865e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.26486062399999 meters
Centerline goodness : 0.999158 with order 1
Centerline is valid?  [True, True]
Translation: X:51.26, Y:-0.74, Z:9.61
[[ 9.77346428e-01 -9.20914868e-02 -1.90560012e-01  5.12597297e+01]
 [ 9.45041420e-02  9.95517987e-01  3.59232805e-03 -7.37777281e-01]
 [ 1.89375096e-01 -2.15196594e-02  9.81668975e-01  9.60796119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.324860623999996 meters
Centerline goodness : 0.999088 with order 1
Centerline is valid?  [True, True]
Translation: X:51.32, Y:-0.74, Z:9.62
[[ 9.77075075e-01 -9.49271430e-02 -1.90560059e-01  5.13189125e+01]
 [ 9.73920382e-02  9.95239621e-01  3.58983487e-03 -7.38574526e-01]
 [ 1.89312148e-01 -2.20665707e-02  9.81668975e-01  9.61972344e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.384860624 meters
Centerline goodness : 0.998899 with order 1
Centerline is valid?  [True, True]
Translation: X:51.38, Y:-0.74, Z:9.63
[[ 9.76618669e-01 -9.95131155e-02 -1.90560006e-01  5.13786620e+01]
 [ 1.02063792e-01  9.94771368e-01  3.59260567e-03 -7.38731036e-01]
 [ 1.89206127e-01 -2.29578827e-02  9.81668975e-01  9.63257119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.44486062399999 meters
Centerline goodness : 0.999391 with order 1
Centerline is valid?  [True, True]
Translation: X:51.44, Y:-0.74, Z:9.64
[[ 9.76372101e-01 -1.01903957e-01 -1.90559977e-01  5.14373034e+01]
 [ 1.04499376e-01  9.94518457e-01  3.59419357e-03 -7.38759737e-01]
 [ 1.89149151e-01 -2.34226690e-02  9.81668975e-01  9.64334939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.504860623999996 meters
Centerline goodness : 0.999153 with order 1
Centerline is valid?  [True, True]
Translation: X:51.50, Y:-0.74, Z:9.66
[[ 9.76353744e-01 -1.02079683e-01 -1.90559977e-01  5.14968496e+01]
 [ 1.04678368e-01  9.94499633e-01  3.59419357e-03 -7.39354322e-01]
 [ 1.89144933e-01 -2.34567117e-02  9.81668975e-01  9.65586924e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.564860624 meters
Centerline goodness : 0.999129 with order 1
Centerline is valid?  [True, True]
Translation: X:51.56, Y:-0.74, Z:9.67
[[ 9.76394374e-01 -1.01690437e-01 -1.90559915e-01  5.15550880e+01]
 [ 1.04282516e-01  9.94541208e-01  3.59745717e-03 -7.39255934e-01]
 [ 1.89153861e-01 -2.33846042e-02  9.81668975e-01  9.66729827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.62486062399999 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:51.61, Y:-0.74, Z:9.68
[[ 9.76485957e-01 -1.00807105e-01 -1.90559976e-01  5.16143260e+01]
 [ 1.03382148e-01  9.94635216e-01  3.59424258e-03 -7.39259374e-01]
 [ 1.89175337e-01 -2.32102269e-02  9.81668975e-01  9.67983035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.684860623999995 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:51.67, Y:-0.74, Z:9.69
[[ 9.76665155e-01 -9.90558970e-02 -1.90559976e-01  5.16746152e+01]
 [ 1.01598390e-01  9.94819003e-01  3.59424258e-03 -7.40666974e-01]
 [ 1.89216654e-01 -2.28709582e-02  9.81668975e-01  9.69138714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.744860624 meters
Centerline goodness : 0.998585 with order 1
Centerline is valid?  [True, True]
Translation: X:51.73, Y:-0.74, Z:9.70
[[ 9.76823087e-01 -9.74864042e-02 -1.90559851e-01  5.17333019e+01]
 [ 1.00000993e-01  9.94980822e-01  3.60084576e-03 -7.41553350e-01]
 [ 1.89252363e-01 -2.25735637e-02  9.81668975e-01  9.70117349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.80486062399999 meters
Centerline goodness : 0.998400 with order 1
Centerline is valid?  [True, True]
Translation: X:51.79, Y:-0.74, Z:9.71
[[ 9.76872611e-01 -9.69887694e-02 -1.90559912e-01  5.17940928e+01]
 [ 9.94934852e-02  9.95031710e-01  3.59760659e-03 -7.42742974e-01]
 [ 1.89264228e-01 -2.24738731e-02  9.81668975e-01  9.71302351e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.864860623999995 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:51.85, Y:-0.74, Z:9.73
[[ 9.76859310e-01 -9.71229993e-02 -1.90559730e-01  5.18545920e+01]
 [ 9.96320604e-02  9.95017809e-01  3.60722508e-03 -7.44832714e-01]
 [ 1.89259980e-01 -2.25096099e-02  9.81668975e-01  9.72605764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.924860624 meters
Centerline goodness : 0.998474 with order 1
Centerline is valid?  [True, True]
Translation: X:51.91, Y:-0.75, Z:9.74
[[ 9.76738250e-01 -9.83334804e-02 -1.90559485e-01  5.19141564e+01]
 [ 1.00867525e-01  9.94893279e-01  3.62013580e-03 -7.45577584e-01]
 [ 1.89230370e-01 -2.27571887e-02  9.81668975e-01  9.73733921e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 52.98486062399999 meters
Centerline goodness : 0.998278 with order 1
Centerline is valid?  [True, True]
Translation: X:51.97, Y:-0.75, Z:9.75
[[ 9.76641770e-01 -9.92871556e-02 -1.90559474e-01  5.19740410e+01]
 [ 1.01839036e-01  9.94794301e-01  3.62070728e-03 -7.45418223e-01]
 [ 1.89207989e-01 -2.29425271e-02  9.81668975e-01  9.74798885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.044860623999995 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:52.04, Y:-0.74, Z:9.76
[[ 9.76726084e-01 -9.84550943e-02 -1.90559051e-01  5.20356648e+01]
 [ 1.00995763e-01  9.94880187e-01  3.64282771e-03 -7.44633399e-01]
 [ 1.89224769e-01 -2.28037016e-02  9.81668976e-01  9.75877163e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.104860624 meters
Centerline goodness : 0.998198 with order 1
Centerline is valid?  [True, True]
Translation: X:52.10, Y:-0.74, Z:9.77
[[ 9.76879755e-01 -9.69189667e-02 -1.90558805e-01  5.20956183e+01]
 [ 9.94335448e-02  9.95037490e-01  3.65562459e-03 -7.42761128e-01]
 [ 1.89258856e-01 -2.25190432e-02  9.81668976e-01  9.77004630e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.16486062399999 meters
Centerline goodness : 0.998165 with order 1
Centerline is valid?  [True, True]
Translation: X:52.15, Y:-0.74, Z:9.78
[[ 9.76969110e-01 -9.60141808e-02 -1.90558743e-01  5.21542865e+01]
 [ 9.85125647e-02  9.95129081e-01  3.65886784e-03 -7.41401110e-01]
 [ 1.89279244e-01 -2.23470314e-02  9.81668976e-01  9.78301446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.224860623999994 meters
Centerline goodness : 0.998190 with order 1
Centerline is valid?  [True, True]
Translation: X:52.21, Y:-0.74, Z:9.80
[[ 9.77091474e-01 -9.47609653e-02 -1.90558682e-01  5.22138603e+01]
 [ 9.72366678e-02  9.95254550e-01  3.66205890e-03 -7.41160264e-01]
 [ 1.89307375e-01 -2.21074578e-02  9.81668976e-01  9.79732473e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.284860624 meters
Centerline goodness : 0.998086 with order 1
Centerline is valid?  [True, True]
Translation: X:52.28, Y:-0.74, Z:9.81
[[ 9.77078957e-01 -9.48901924e-02 -1.90558557e-01  5.22752553e+01]
 [ 9.73695438e-02  9.95241535e-01  3.66853902e-03 -7.41898658e-01]
 [ 1.89303683e-01 -2.21390521e-02  9.81668976e-01  9.80849931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.34486062399999 meters
Centerline goodness : 0.997641 with order 1
Centerline is valid?  [True, True]
Translation: X:52.34, Y:-0.74, Z:9.82
[[ 9.77045435e-01 -9.52352376e-02 -1.90558305e-01  5.23353049e+01]
 [ 9.77235099e-02  9.95206793e-01  3.68157062e-03 -7.42289576e-01]
 [ 1.89294305e-01 -2.22190882e-02  9.81668976e-01  9.81777372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.404860623999994 meters
Centerline goodness : 0.997901 with order 1
Centerline is valid?  [True, True]
Translation: X:52.40, Y:-0.74, Z:9.83
[[ 9.76980099e-01 -9.59034212e-02 -1.90558181e-01  5.23968721e+01]
 [ 9.84053525e-02  9.95139581e-01  3.68801108e-03 -7.44123204e-01]
 [ 1.89278295e-01 -2.23550584e-02  9.81668976e-01  9.82951138e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.464860623999996 meters
Centerline goodness : 0.997736 with order 1
Centerline is valid?  [True, True]
Translation: X:52.46, Y:-0.75, Z:9.84
[[ 9.76638973e-01 -9.93176240e-02 -1.90557933e-01  5.24552462e+01]
 [ 1.01885463e-01  9.94789252e-01  3.70075975e-03 -7.46626044e-01]
 [ 1.89197433e-01 -2.30293895e-02  9.81668976e-01  9.83901165e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.52486062399999 meters
Centerline goodness : 0.997722 with order 1
Centerline is valid?  [True, True]
Translation: X:52.51, Y:-0.75, Z:9.85
[[ 9.76288977e-01 -1.02701221e-01 -1.90557848e-01  5.25148930e+01]
 [ 1.05332784e-01  9.94430126e-01  3.70516391e-03 -7.48717038e-01]
 [ 1.89115940e-01 -2.36892993e-02  9.81668976e-01  9.84997548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.584860623999994 meters
Centerline goodness : 0.997626 with order 1
Centerline is valid?  [True, True]
Translation: X:52.57, Y:-0.75, Z:9.86
[[ 9.76161842e-01 -1.03902689e-01 -1.90557839e-01  5.25744018e+01]
 [ 1.06556660e-01  9.94299727e-01  3.70559665e-03 -7.51284405e-01]
 [ 1.89086586e-01 -2.39224689e-02  9.81668976e-01  9.86223451e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.644860623999996 meters
Centerline goodness : 0.997738 with order 1
Centerline is valid?  [True, True]
Translation: X:52.64, Y:-0.75, Z:9.87
[[ 9.76198680e-01 -1.03556296e-01 -1.90557684e-01  5.26351625e+01]
 [ 1.06205362e-01  9.94337282e-01  3.71356381e-03 -7.51528736e-01]
 [ 1.89094047e-01 -2.38634239e-02  9.81668976e-01  9.87432023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.70486062399999 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:52.69, Y:-0.75, Z:9.89
[[ 9.76547424e-01 -1.00214624e-01 -1.90557494e-01  5.26948148e+01]
 [ 1.02803467e-01  9.94694719e-01  3.72330129e-03 -7.50956396e-01]
 [ 1.89173403e-01 -2.32259512e-02  9.81668976e-01  9.88686770e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.76486062399999 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:52.75, Y:-0.75, Z:9.90
[[ 9.76886879e-01 -9.68498347e-02 -1.90557434e-01  5.27528938e+01]
 [ 9.93767321e-02  9.95042903e-01  3.72635676e-03 -7.51403381e-01]
 [ 1.89251925e-01 -2.25772041e-02  9.81668976e-01  9.89946517e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.824860623999996 meters
Centerline goodness : 0.997596 with order 1
Centerline is valid?  [True, True]
Translation: X:52.81, Y:-0.75, Z:9.91
[[ 9.77457384e-01 -9.09114975e-02 -1.90557505e-01  5.28114818e+01]
 [ 9.33273111e-02  9.95628522e-01  3.72270499e-03 -7.50303098e-01]
 [ 1.89386051e-01 -2.14230051e-02  9.81668976e-01  9.91041838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.88486062399999 meters
Centerline goodness : 0.997932 with order 1
Centerline is valid?  [True, True]
Translation: X:52.87, Y:-0.75, Z:9.92
[[ 9.77797441e-01 -8.71778604e-02 -1.90557564e-01  5.28708552e+01]
 [ 8.95236789e-02  9.95977748e-01  3.71968986e-03 -7.51348513e-01]
 [ 1.89466819e-01 -2.06965174e-02  9.81668976e-01  9.92232310e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 53.94486062399999 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:52.93, Y:-0.75, Z:9.93
[[ 9.78164961e-01 -8.29525252e-02 -1.90557570e-01  5.29307156e+01]
 [ 8.52197179e-02  9.96355241e-01  3.71939478e-03 -7.52613164e-01]
 [ 1.89554500e-01 -1.98774440e-02  9.81668976e-01  9.93414283e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.004860623999996 meters
Centerline goodness : 0.997959 with order 1
Centerline is valid?  [True, True]
Translation: X:52.99, Y:-0.75, Z:9.94
[[ 9.78321899e-01 -8.10807916e-02 -1.90557514e-01  5.29905255e+01]
 [ 8.33137222e-02  9.96516417e-01  3.72223083e-03 -7.54482262e-01]
 [ 1.89591890e-01 -1.95175958e-02  9.81668976e-01  9.94478684e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.064860624 meters
Centerline goodness : 0.997958 with order 1
Centerline is valid?  [True, True]
Translation: X:53.05, Y:-0.76, Z:9.96
[[ 9.78387729e-01 -8.02826635e-02 -1.90557458e-01  5.30506026e+01]
 [ 8.25013058e-02  9.96583994e-01  3.72511198e-03 -7.56429744e-01]
 [ 1.89607451e-01 -1.93658430e-02  9.81668976e-01  9.95629111e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.12486062399999 meters
Centerline goodness : 0.997485 with order 1
Centerline is valid?  [True, True]
Translation: X:53.11, Y:-0.76, Z:9.97
[[ 9.78416022e-01 -7.99375615e-02 -1.90557272e-01  5.31117689e+01]
 [ 8.21516125e-02  9.96612846e-01  3.73458992e-03 -7.58948629e-01]
 [ 1.89613292e-01 -1.93085698e-02  9.81668976e-01  9.96694141e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.184860623999995 meters
Centerline goodness : 0.997413 with order 1
Centerline is valid?  [True, True]
Translation: X:53.17, Y:-0.76, Z:9.98
[[ 9.78360548e-01 -8.06142475e-02 -1.90557026e-01  5.31717395e+01]
 [ 8.28432954e-02  9.96555542e-01  3.74710308e-03 -7.60155186e-01]
 [ 1.89598591e-01 -1.94523898e-02  9.81668976e-01  9.97782141e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.244860624 meters
Centerline goodness : 0.997480 with order 1
Centerline is valid?  [True, True]
Translation: X:53.23, Y:-0.76, Z:9.99
[[ 9.78297562e-01 -8.13752085e-02 -1.90556962e-01  5.32309164e+01]
 [ 8.36190344e-02  9.96490739e-01  3.75035282e-03 -7.60646496e-01]
 [ 1.89583062e-01 -1.96031502e-02  9.81668976e-01  9.98901271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.30486062399999 meters
Centerline goodness : 0.997478 with order 1
Centerline is valid?  [True, True]
Translation: X:53.29, Y:-0.76, Z:10.00
[[ 9.78090493e-01 -8.38275337e-02 -1.90556899e-01  5.32895511e+01]
 [ 8.61175795e-02  9.96277910e-01  3.75355467e-03 -7.60438435e-01]
 [ 1.89532978e-01 -2.00816151e-02  9.81668976e-01  1.00025907e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.364860623999995 meters
Centerline goodness : 0.997746 with order 1
Centerline is valid?  [True, True]
Translation: X:53.35, Y:-0.76, Z:10.01
[[ 9.77871667e-01 -8.63427623e-02 -1.90556897e-01  5.33496459e+01]
 [ 8.86795989e-02  9.96053130e-01  3.75367419e-03 -7.61004275e-01]
 [ 1.89480691e-01 -2.05691208e-02  9.81668976e-01  1.00133954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.424860624 meters
Centerline goodness : 0.997941 with order 1
Centerline is valid?  [True, True]
Translation: X:53.41, Y:-0.76, Z:10.02
[[ 9.77810813e-01 -8.70293451e-02 -1.90556834e-01  5.34116746e+01]
 [ 8.93795588e-02  9.95990552e-01  3.75685079e-03 -7.62305487e-01]
 [ 1.89465850e-01 -2.07053751e-02  9.81668976e-01  1.00246932e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.48486062399999 meters
Centerline goodness : 0.998124 with order 1
Centerline is valid?  [True, True]
Translation: X:53.47, Y:-0.76, Z:10.03
[[ 9.77718238e-01 -8.80640921e-02 -1.90556453e-01  5.34724753e+01]
 [ 9.04372461e-02  9.95894997e-01  3.77607877e-03 -7.63052643e-01]
 [ 1.89441682e-01 -2.09253420e-02  9.81668976e-01  1.00348654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.544860623999995 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:53.53, Y:-0.76, Z:10.05
[[ 9.77812624e-01 -8.70102389e-02 -1.90556265e-01  5.35330580e+01]
 [ 8.93656293e-02  9.95991694e-01  3.78557666e-03 -7.64464846e-01]
 [ 1.89463073e-01 -2.07307652e-02  9.81668976e-01  1.00481435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.604860624 meters
Centerline goodness : 0.997911 with order 1
Centerline is valid?  [True, True]
Translation: X:53.59, Y:-0.77, Z:10.06
[[ 9.77917083e-01 -8.58286792e-02 -1.90556073e-01  5.35939285e+01]
 [ 8.81639548e-02  9.96098747e-01  3.79519594e-03 -7.65587018e-01]
 [ 1.89486929e-01 -2.05115639e-02  9.81668977e-01  1.00631051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.66486062399999 meters
Centerline goodness : 0.997940 with order 1
Centerline is valid?  [True, True]
Translation: X:53.65, Y:-0.77, Z:10.07
[[ 9.77986043e-01 -8.50398709e-02 -1.90555818e-01  5.36549079e+01]
 [ 8.73629371e-02  9.96169271e-01  3.80794938e-03 -7.68323954e-01]
 [ 1.89502023e-01 -2.03716373e-02  9.81668977e-01  1.00732275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.724860623999994 meters
Centerline goodness : 0.997961 with order 1
Centerline is valid?  [True, True]
Translation: X:53.72, Y:-0.77, Z:10.08
[[ 9.77984050e-01 -8.50633590e-02 -1.90555563e-01  5.37162778e+01]
 [ 8.73893101e-02  9.96166909e-01  3.82065985e-03 -7.70427719e-01]
 [ 1.89500148e-01 -2.03890636e-02  9.81668977e-01  1.00838317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.784860624 meters
Centerline goodness : 0.997868 with order 1
Centerline is valid?  [True, True]
Translation: X:53.78, Y:-0.77, Z:10.10
[[ 9.77957141e-01 -8.53727313e-02 -1.90555310e-01  5.37768631e+01]
 [ 8.77068590e-02  9.96138953e-01  3.83324918e-03 -7.72153448e-01]
 [ 1.89492312e-01 -2.04617611e-02  9.81668977e-01  1.00958000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.84486062399999 meters
Centerline goodness : 0.998089 with order 1
Centerline is valid?  [True, True]
Translation: X:53.84, Y:-0.77, Z:10.11
[[ 9.77796846e-01 -8.71898875e-02 -1.90555114e-01  5.38384181e+01]
 [ 8.95596678e-02  9.95974045e-01  3.84296013e-03 -7.74345233e-01]
 [ 1.89452881e-01 -2.08236870e-02  9.81668977e-01  1.01054702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.904860623999994 meters
Centerline goodness : 0.997989 with order 1
Centerline is valid?  [True, True]
Translation: X:53.90, Y:-0.78, Z:10.12
[[ 9.77720156e-01 -8.80462504e-02 -1.90554858e-01  5.38969848e+01]
 [ 9.04343902e-02  9.95894952e-01  3.85563398e-03 -7.75433906e-01]
 [ 1.89433147e-01 -2.10024434e-02  9.81668977e-01  1.01150206e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 54.964860623999996 meters
Centerline goodness : 0.998157 with order 1
Centerline is valid?  [True, True]
Translation: X:53.96, Y:-0.78, Z:10.13
[[ 9.77696189e-01 -8.83118798e-02 -1.90554911e-01  5.39565188e+01]
 [ 9.07044491e-02  9.95870402e-01  3.85299399e-03 -7.75783282e-01]
 [ 1.89427731e-01 -2.10512358e-02  9.81668977e-01  1.01280014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.02486062399999 meters
Centerline goodness : 0.998030 with order 1
Centerline is valid?  [True, True]
Translation: X:54.02, Y:-0.77, Z:10.14
[[ 9.77756680e-01 -8.76397431e-02 -1.90554848e-01  5.40169101e+01]
 [ 9.00204199e-02  9.95932455e-01  3.85612022e-03 -7.74651031e-01]
 [ 1.89441808e-01 -2.09241747e-02  9.81668977e-01  1.01414158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.084860623999994 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:54.08, Y:-0.78, Z:10.15
[[ 9.77872751e-01 -8.63355702e-02 -1.90554592e-01  5.40768437e+01]
 [ 8.86944303e-02  9.96051370e-01  3.86872634e-03 -7.75632186e-01]
 [ 1.89468154e-01 -2.06842531e-02  9.81668977e-01  1.01536844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.144860623999996 meters
Centerline goodness : 0.998313 with order 1
Centerline is valid?  [True, True]
Translation: X:54.13, Y:-0.78, Z:10.17
[[ 9.78026227e-01 -8.45795236e-02 -1.90554461e-01  5.41349964e+01]
 [ 8.69069783e-02  9.96208894e-01  3.87516776e-03 -7.76273509e-01]
 [ 1.89504289e-01 -2.03505281e-02  9.81668977e-01  1.01656637e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.20486062399999 meters
Centerline goodness : 0.998482 with order 1
Centerline is valid?  [True, True]
Translation: X:54.19, Y:-0.78, Z:10.18
[[ 9.78124383e-01 -8.34365936e-02 -1.90554525e-01  5.41944316e+01]
 [ 8.57421919e-02  9.96309833e-01  3.87201434e-03 -7.78369690e-01]
 [ 1.89528280e-01 -2.01258743e-02  9.81668977e-01  1.01770727e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.26486062399999 meters
Centerline goodness : 0.998245 with order 1
Centerline is valid?  [True, True]
Translation: X:54.25, Y:-0.78, Z:10.19
[[ 9.78297557e-01 -8.13809760e-02 -1.90554525e-01  5.42537441e+01]
 [ 8.36483543e-02  9.96487812e-01  3.87201434e-03 -7.79912179e-01]
 [ 1.89570154e-01 -1.97275546e-02  9.81668977e-01  1.01862955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.324860623999996 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:54.31, Y:-0.78, Z:10.20
[[ 9.78423405e-01 -7.98537060e-02 -1.90554525e-01  5.43144316e+01]
 [ 8.20926856e-02  9.96617177e-01  3.87201434e-03 -7.81821787e-01]
 [ 1.89600718e-01 -1.94316022e-02  9.81668977e-01  1.01963634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.38486062399999 meters
Centerline goodness : 0.998483 with order 1
Centerline is valid?  [True, True]
Translation: X:54.38, Y:-0.78, Z:10.21
[[ 9.78610709e-01 -7.75248456e-02 -1.90554397e-01  5.43750005e+01]
 [ 7.97217336e-02  9.96809613e-01  3.87831988e-03 -7.83340875e-01]
 [ 1.89645788e-01 -1.89866922e-02  9.81668977e-01  1.02060902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.44486062399999 meters
Centerline goodness : 0.998186 with order 1
Centerline is valid?  [True, True]
Translation: X:54.44, Y:-0.78, Z:10.22
[[ 9.78664010e-01 -7.68492077e-02 -1.90554334e-01  5.44355810e+01]
 [ 7.90341270e-02  9.96864355e-01  3.88141186e-03 -7.83180664e-01]
 [ 1.89658540e-01 -1.88588935e-02  9.81668977e-01  1.02191753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.504860623999996 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:54.50, Y:-0.78, Z:10.23
[[ 9.78828880e-01 -7.47204493e-02 -1.90554136e-01  5.44950666e+01]
 [ 7.68676456e-02  9.97033713e-01  3.89109589e-03 -7.84794832e-01]
 [ 1.89698153e-01 -1.84561648e-02  9.81668977e-01  1.02300179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.56486062399999 meters
Centerline goodness : 0.998494 with order 1
Centerline is valid?  [True, True]
Translation: X:54.55, Y:-0.78, Z:10.24
[[ 9.79136144e-01 -7.05799767e-02 -1.90554136e-01  5.45544000e+01]
 [ 7.26501593e-02  9.97349895e-01  3.89109589e-03 -7.83498601e-01]
 [ 1.89774514e-01 -1.76537010e-02  9.81668977e-01  1.02405352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.62486062399999 meters
Centerline goodness : 0.998998 with order 1
Centerline is valid?  [True, True]
Translation: X:54.61, Y:-0.78, Z:10.25
[[ 9.79445504e-01 -6.61484950e-02 -1.90554143e-01  5.46134989e+01]
 [ 6.81361666e-02  9.97668444e-01  3.89073623e-03 -7.81379817e-01]
 [ 1.89852490e-01 -1.67943930e-02  9.81668977e-01  1.02528489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.684860623999995 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:54.67, Y:-0.78, Z:10.27
[[ 9.79829873e-01 -6.01875891e-02 -1.90554125e-01  5.46724964e+01]
 [ 6.20645157e-02  9.98064553e-01  3.89163648e-03 -7.79611673e-01]
 [ 1.89951089e-01 -1.56397912e-02  9.81668977e-01  1.02654506e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.744860624 meters
Centerline goodness : 0.998744 with order 1
Centerline is valid?  [True, True]
Translation: X:54.73, Y:-0.78, Z:10.28
[[ 9.80076883e-01 -5.60216727e-02 -1.90554129e-01  5.47310515e+01]
 [ 5.78210258e-02  9.98319381e-01  3.89143521e-03 -7.77765533e-01]
 [ 1.90015876e-01 -1.48319409e-02  9.81668977e-01  1.02783879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.80486062399999 meters
Centerline goodness : 0.999108 with order 1
Centerline is valid?  [True, True]
Translation: X:54.79, Y:-0.77, Z:10.29
[[ 9.80258249e-01 -5.27529308e-02 -1.90554173e-01  5.47901823e+01]
 [ 5.44910204e-02  9.98506686e-01  3.88927763e-03 -7.74773430e-01]
 [ 1.90064445e-01 -1.41959878e-02  9.81668977e-01  1.02899205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.864860623999995 meters
Centerline goodness : 0.998632 with order 1
Centerline is valid?  [True, True]
Translation: X:54.85, Y:-0.77, Z:10.30
[[ 9.80361293e-01 -5.08019422e-02 -1.90554186e-01  5.48488468e+01]
 [ 5.25035923e-02  9.98613164e-01  3.88866540e-03 -7.74933313e-01]
 [ 1.90092367e-01 -1.38170763e-02  9.81668977e-01  1.03001622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.924860624 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:54.91, Y:-0.77, Z:10.31
[[ 9.80174863e-01 -5.42797517e-02 -1.90554313e-01  5.49061848e+01]
 [ 5.60449427e-02  9.98420698e-01  3.88244400e-03 -7.74066533e-01]
 [ 1.90042632e-01 -1.44850795e-02  9.81668977e-01  1.03141723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 55.98486062399999 meters
Centerline goodness : 0.999031 with order 1
Centerline is valid?  [True, True]
Translation: X:54.96, Y:-0.78, Z:10.33
[[ 9.80040875e-01 -5.66474668e-02 -1.90554318e-01  5.49645214e+01]
 [ 5.84566822e-02  9.98282397e-01  3.88219511e-03 -7.75057931e-01]
 [ 1.90007104e-01 -1.49438831e-02  9.81668977e-01  1.03253484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.044860623999995 meters
Centerline goodness : 0.999084 with order 1
Centerline is valid?  [True, True]
Translation: X:55.02, Y:-0.78, Z:10.34
[[ 9.79685734e-01 -6.24889362e-02 -1.90554442e-01  5.50234521e+01]
 [ 6.44056880e-02  9.97916271e-01  3.87609776e-03 -7.76957976e-01]
 [ 1.89915165e-01 -1.60701476e-02  9.81668977e-01  1.03355130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.104860624 meters
Centerline goodness : 0.998915 with order 1
Centerline is valid?  [True, True]
Translation: X:55.08, Y:-0.78, Z:10.34
[[ 9.79195984e-01 -6.97438558e-02 -1.90554506e-01  5.50830088e+01]
 [ 7.17949839e-02  9.97411891e-01  3.87295373e-03 -7.79670526e-01]
 [ 1.89791215e-01 -1.74732384e-02  9.81668977e-01  1.03439718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.16486062399999 meters
Centerline goodness : 0.999041 with order 1
Centerline is valid?  [True, True]
Translation: X:55.14, Y:-0.78, Z:10.35
[[ 9.78526538e-01 -7.85798997e-02 -1.90554490e-01  5.51430945e+01]
 [ 8.07955177e-02  9.96723171e-01  3.87370290e-03 -7.80209164e-01]
 [ 1.89625681e-01 -1.91864698e-02  9.81668977e-01  1.03526077e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.224860623999994 meters
Centerline goodness : 0.999139 with order 1
Centerline is valid?  [True, True]
Translation: X:55.20, Y:-0.78, Z:10.36
[[ 9.78268150e-01 -8.17338044e-02 -1.90554483e-01  5.52027525e+01]
 [ 8.40081340e-02  9.96457538e-01  3.87404363e-03 -7.79959297e-01]
 [ 1.89562811e-01 -1.97979801e-02  9.81668977e-01  1.03648447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.284860624 meters
Centerline goodness : 0.998867 with order 1
Centerline is valid?  [True, True]
Translation: X:55.26, Y:-0.78, Z:10.38
[[ 9.78108635e-01 -8.36211546e-02 -1.90554456e-01  5.52642120e+01]
 [ 8.59308323e-02  9.96293568e-01  3.87537862e-03 -7.79980812e-01]
 [ 1.89524115e-01 -2.01650443e-02  9.81668977e-01  1.03754599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.34486062399999 meters
Centerline goodness : 0.998915 with order 1
Centerline is valid?  [True, True]
Translation: X:55.33, Y:-0.78, Z:10.39
[[ 9.78126859e-01 -8.34083080e-02 -1.90554198e-01  5.53254611e+01]
 [ 8.57164693e-02  9.96311984e-01  3.88804900e-03 -7.80669911e-01]
 [ 1.89527135e-01 -2.01366382e-02  9.81668977e-01  1.03867747e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.404860623999994 meters
Centerline goodness : 0.998887 with order 1
Centerline is valid?  [True, True]
Translation: X:55.38, Y:-0.78, Z:10.40
[[ 9.78360493e-01 -8.06222233e-02 -1.90553938e-01  5.53840838e+01]
 [ 8.28810305e-02  9.96551814e-01  3.90074836e-03 -7.77366987e-01]
 [ 1.89582385e-01 -1.96096448e-02  9.81668977e-01  1.04013000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.464860623999996 meters
Centerline goodness : 0.998581 with order 1
Centerline is valid?  [True, True]
Translation: X:55.44, Y:-0.78, Z:10.41
[[ 9.78689444e-01 -7.65256080e-02 -1.90553938e-01  5.54433995e+01]
 [ 7.87082374e-02  9.96890063e-01  3.90074836e-03 -7.76408955e-01]
 [ 1.89662820e-01 -1.88157858e-02  9.81668977e-01  1.04146923e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.52486062399999 meters
Centerline goodness : 0.998802 with order 1
Centerline is valid?  [True, True]
Translation: X:55.50, Y:-0.78, Z:10.43
[[ 9.78913308e-01 -7.36066271e-02 -1.90553927e-01  5.55027447e+01]
 [ 7.57350725e-02  9.97120343e-01  3.90128441e-03 -7.75993299e-01]
 [ 1.89718036e-01 -1.82506347e-02  9.81668977e-01  1.04279016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.584860623999994 meters
Centerline goodness : 0.998822 with order 1
Centerline is valid?  [True, True]
Translation: X:55.56, Y:-0.78, Z:10.44
[[ 9.78922447e-01 -7.34851469e-02 -1.90553867e-01  5.55636953e+01]
 [ 7.56118977e-02  9.97129680e-01  3.90421290e-03 -7.75131457e-01]
 [ 1.89720014e-01 -1.82300611e-02  9.81668977e-01  1.04411622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.644860623999996 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:55.62, Y:-0.78, Z:10.45
[[ 9.78613592e-01 -7.74903818e-02 -1.90553608e-01  5.56232724e+01]
 [ 7.96940520e-02  9.96811676e-01  3.91682534e-03 -7.76493831e-01]
 [ 1.89642545e-01 -1.90190476e-02  9.81668977e-01  1.04509388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.70486062399999 meters
Centerline goodness : 0.998679 with order 1
Centerline is valid?  [True, True]
Translation: X:55.68, Y:-0.78, Z:10.46
[[ 9.78232239e-01 -8.21645461e-02 -1.90553597e-01  5.56832925e+01]
 [ 8.44552304e-02  9.96419574e-01  3.91736021e-03 -7.78069388e-01]
 [ 1.89549465e-01 -1.99253360e-02  9.81668977e-01  1.04603340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.76486062399999 meters
Centerline goodness : 0.998779 with order 1
Centerline is valid?  [True, True]
Translation: X:55.74, Y:-0.78, Z:10.47
[[ 9.77526462e-01 -9.01739567e-02 -1.90553597e-01  5.57425781e+01]
 [ 9.26135243e-02  9.95694426e-01  3.91734776e-03 -7.77715191e-01]
 [ 1.89379911e-01 -2.14771513e-02  9.81668977e-01  1.04712520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.824860623999996 meters
Centerline goodness : 0.998780 with order 1
Centerline is valid?  [True, True]
Translation: X:55.80, Y:-0.78, Z:10.48
[[ 9.77017578e-01 -9.55300357e-02 -1.90553575e-01  5.58015488e+01]
 [ 9.80693374e-02  9.95171870e-01  3.91838418e-03 -7.77691865e-01]
 [ 1.89259235e-01 -2.25157931e-02  9.81668977e-01  1.04804796e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.88486062399999 meters
Centerline goodness : 0.999182 with order 1
Centerline is valid?  [True, True]
Translation: X:55.86, Y:-0.78, Z:10.49
[[ 9.76662752e-01 -9.90917991e-02 -1.90553625e-01  5.58610810e+01]
 [ 1.01696811e-01  9.94807732e-01  3.91595694e-03 -7.80002189e-01]
 [ 1.89176181e-01 -2.32032654e-02  9.81668977e-01  1.04923287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 56.94486062399999 meters
Centerline goodness : 0.998983 with order 1
Centerline is valid?  [True, True]
Translation: X:55.92, Y:-0.78, Z:10.51
[[ 9.76446296e-01 -1.01202555e-01 -1.90553597e-01  5.59203493e+01]
 [ 1.03847043e-01  9.94585565e-01  3.91732169e-03 -7.80656817e-01]
 [ 1.89125414e-01 -2.36134818e-02  9.81668977e-01  1.05055379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.004860623999996 meters
Centerline goodness : 0.999003 with order 1
Centerline is valid?  [True, True]
Translation: X:55.98, Y:-0.78, Z:10.52
[[ 9.76384831e-01 -1.01794105e-01 -1.90553464e-01  5.59795169e+01]
 [ 1.04450826e-01  9.94522312e-01  3.92379481e-03 -7.78850738e-01]
 [ 1.89110252e-01 -2.37346004e-02  9.81668977e-01  1.05221295e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.06486062399999 meters
Centerline goodness : 0.998678 with order 1
Centerline is valid?  [True, True]
Translation: X:56.04, Y:-0.78, Z:10.53
[[ 9.76488108e-01 -1.00798746e-01 -1.90553374e-01  5.60402816e+01]
 [ 1.03437817e-01  9.94628165e-01  3.92817299e-03 -7.80311726e-01]
 [ 1.89133798e-01 -2.35462393e-02  9.81668977e-01  1.05342620e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.12486062399999 meters
Centerline goodness : 0.999080 with order 1
Centerline is valid?  [True, True]
Translation: X:56.10, Y:-0.78, Z:10.55
[[ 9.76510186e-01 -1.00585017e-01 -1.90553171e-01  5.61010492e+01]
 [ 1.03222003e-01  9.94650547e-01  3.93798546e-03 -7.83023350e-01]
 [ 1.89137713e-01 -2.35147629e-02  9.81668977e-01  1.05455509e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.184860623999995 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:56.16, Y:-0.79, Z:10.56
[[ 9.76419984e-01 -1.01457405e-01 -1.90552903e-01  5.61620354e+01]
 [ 1.04113081e-01  9.94557619e-01  3.95091215e-03 -7.85020150e-01]
 [ 1.89114992e-01 -2.36967995e-02  9.81668978e-01  1.05587247e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.24486062399999 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:56.22, Y:-0.79, Z:10.57
[[ 9.76479191e-01 -1.00886492e-01 -1.90552634e-01  5.62224672e+01]
 [ 1.03534051e-01  9.94618011e-01  3.96385906e-03 -7.87628378e-01]
 [ 1.89127182e-01 -2.35993119e-02  9.81668978e-01  1.05689743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.30486062399999 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:56.28, Y:-0.79, Z:10.58
[[ 9.76713669e-01 -9.85908449e-02 -1.90552498e-01  5.62825762e+01]
 [ 1.01197013e-01  9.94858483e-01  3.97038822e-03 -7.91863804e-01]
 [ 1.89181325e-01 -2.31612760e-02  9.81668978e-01  1.05777824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.364860623999995 meters
Centerline goodness : 0.998613 with order 1
Centerline is valid?  [True, True]
Translation: X:56.34, Y:-0.79, Z:10.59
[[ 9.76873896e-01 -9.69904150e-02 -1.90552490e-01  5.63425422e+01]
 [ 9.95669253e-02  9.95022945e-01  3.97077907e-03 -7.94170864e-01]
 [ 1.89218972e-01 -2.28516759e-02  9.81668978e-01  1.05897529e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.424860624 meters
Centerline goodness : 0.998514 with order 1
Centerline is valid?  [True, True]
Translation: X:56.40, Y:-0.80, Z:10.60
[[ 9.77078127e-01 -9.49110578e-02 -1.90552422e-01  5.64019673e+01]
 [ 9.74495556e-02  9.95232531e-01  3.97400827e-03 -7.96116238e-01]
 [ 1.89266792e-01 -2.24521654e-02  9.81668978e-01  1.06037797e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.48486062399999 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:56.46, Y:-0.80, Z:10.62
[[ 9.77271956e-01 -9.28942941e-02 -1.90552286e-01  5.64607683e+01]
 [ 9.53965726e-02  9.95431389e-01  3.98052906e-03 -7.98585411e-01]
 [ 1.89311958e-01 -2.20680944e-02  9.81668978e-01  1.06177419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.544860623999995 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:56.52, Y:-0.80, Z:10.63
[[ 9.77322373e-01 -9.23623594e-02 -1.90552289e-01  5.65218497e+01]
 [ 9.48547297e-02  9.95483167e-01  3.98040554e-03 -8.01970890e-01]
 [ 1.89323956e-01 -2.19649252e-02  9.81668978e-01  1.06292129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.604860624 meters
Centerline goodness : 0.998523 with order 1
Centerline is valid?  [True, True]
Translation: X:56.58, Y:-0.81, Z:10.64
[[ 9.77199960e-01 -9.36491730e-02 -1.90552017e-01  5.65827511e+01]
 [ 9.61679460e-02  9.95357111e-01  3.99335877e-03 -8.05419334e-01]
 [ 1.89293331e-01 -2.22273061e-02  9.81668978e-01  1.06407566e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.66486062399999 meters
Centerline goodness : 0.998622 with order 1
Centerline is valid?  [True, True]
Translation: X:56.64, Y:-0.81, Z:10.65
[[ 9.77040298e-01 -9.53010469e-02 -1.90551743e-01  5.66426635e+01]
 [ 9.78530187e-02  9.95192813e-01  4.00639505e-03 -8.08781260e-01]
 [ 1.89253912e-01 -2.25604727e-02  9.81668978e-01  1.06509194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.724860623999994 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:56.70, Y:-0.81, Z:10.66
[[ 9.76914639e-01 -9.65806705e-02 -1.90551731e-01  5.67041000e+01]
 [ 9.91565296e-02  9.95063780e-01  4.00698665e-03 -8.13944235e-01]
 [ 1.89224128e-01 -2.28089322e-02  9.81668978e-01  1.06628395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.784860624 meters
Centerline goodness : 0.998507 with order 1
Centerline is valid?  [True, True]
Translation: X:56.76, Y:-0.82, Z:10.67
[[ 9.76807625e-01 -9.76578869e-02 -1.90551310e-01  5.67625871e+01]
 [ 1.00257583e-01  9.94953366e-01  4.02688401e-03 -8.19648441e-01]
 [ 1.89196410e-01 -2.30377048e-02  9.81668978e-01  1.06748220e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.84486062399999 meters
Centerline goodness : 0.998222 with order 1
Centerline is valid?  [True, True]
Translation: X:56.82, Y:-0.82, Z:10.69
[[ 9.76914240e-01 -9.65854284e-02 -1.90551364e-01  5.68229831e+01]
 [ 9.91647104e-02  9.95062895e-01  4.02433072e-03 -8.22739490e-01]
 [ 1.89221900e-01 -2.28273968e-02  9.81668978e-01  1.06887762e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.904860623999994 meters
Centerline goodness : 0.998238 with order 1
Centerline is valid?  [True, True]
Translation: X:56.88, Y:-0.83, Z:10.70
[[ 9.77154198e-01 -9.41271925e-02 -1.90551159e-01  5.68817893e+01]
 [ 9.66626633e-02  9.95309026e-01  4.03399855e-03 -8.29456989e-01]
 [ 1.89277580e-01 -2.23610212e-02  9.81668978e-01  1.07013222e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 57.964860623999996 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:56.94, Y:-0.83, Z:10.71
[[ 9.77343281e-01 -9.21432300e-02 -1.90551137e-01  5.69404634e+01]
 [ 9.46420394e-02  9.95503191e-01  4.03504167e-03 -8.33139381e-01]
 [ 1.89322463e-01 -2.19777691e-02  9.81668978e-01  1.07144347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.02486062399999 meters
Centerline goodness : 0.997601 with order 1
Centerline is valid?  [True, True]
Translation: X:57.00, Y:-0.84, Z:10.73
[[ 9.77576581e-01 -8.96342082e-02 -1.90551142e-01  5.69988284e+01]
 [ 9.20863561e-02  9.95742850e-01  4.03483924e-03 -8.37392634e-01]
 [ 1.89378277e-01 -2.14915246e-02  9.81668978e-01  1.07256490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.084860623999994 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:57.06, Y:-0.84, Z:10.74
[[ 9.77543539e-01 -8.99944136e-02 -1.90550873e-01  5.70600001e+01]
 [ 9.24556870e-02  9.95708574e-01  4.04747698e-03 -8.42850743e-01]
 [ 1.89368888e-01 -2.15740969e-02  9.81668978e-01  1.07354098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.144860623999996 meters
Centerline goodness : 0.998158 with order 1
Centerline is valid?  [True, True]
Translation: X:57.12, Y:-0.85, Z:10.75
[[ 9.77339619e-01 -9.21831769e-02 -1.90550601e-01  5.71195321e+01]
 [ 9.46875759e-02  9.95498758e-01  4.06023991e-03 -8.48688510e-01]
 [ 1.89318601e-01 -2.20110078e-02  9.81668978e-01  1.07463712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.20486062399999 meters
Centerline goodness : 0.997845 with order 1
Centerline is valid?  [True, True]
Translation: X:57.18, Y:-0.85, Z:10.76
[[ 9.77286139e-01 -9.27484462e-02 -1.90550595e-01  5.71796060e+01]
 [ 9.52634081e-02  9.95443818e-01  4.06055329e-03 -8.50638894e-01]
 [ 1.89305801e-01 -2.21208215e-02  9.81668978e-01  1.07590891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.26486062399999 meters
Centerline goodness : 0.997992 with order 1
Centerline is valid?  [True, True]
Translation: X:57.24, Y:-0.85, Z:10.77
[[ 9.77154344e-01 -9.41271073e-02 -1.90550457e-01  5.72377545e+01]
 [ 9.66689239e-02  9.95308283e-01  4.06700275e-03 -8.53983117e-01]
 [ 1.89273633e-01 -2.23943970e-02  9.81668978e-01  1.07727178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.324860623999996 meters
Centerline goodness : 0.997978 with order 1
Centerline is valid?  [True, True]
Translation: X:57.30, Y:-0.86, Z:10.78
[[ 9.77129544e-01 -9.43848060e-02 -1.90550158e-01  5.72974659e+01]
 [ 9.69340956e-02  9.95282436e-01  4.08096723e-03 -8.57746781e-01]
 [ 1.89266044e-01 -2.24584409e-02  9.81668978e-01  1.07826621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.38486062399999 meters
Centerline goodness : 0.997488 with order 1
Centerline is valid?  [True, True]
Translation: X:57.36, Y:-0.86, Z:10.79
[[ 9.77088740e-01 -9.48064229e-02 -1.90550091e-01  5.73583470e+01]
 [ 9.73641441e-02  9.95240445e-01  4.08408260e-03 -8.60426982e-01]
 [ 1.89255960e-01 -2.25432576e-02  9.81668978e-01  1.07941902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.44486062399999 meters
Centerline goodness : 0.997725 with order 1
Centerline is valid?  [True, True]
Translation: X:57.42, Y:-0.86, Z:10.81
[[ 9.77120563e-01 -9.44784166e-02 -1.90549822e-01  5.74173399e+01]
 [ 9.70324473e-02  9.95272788e-01  4.09657870e-03 -8.62609334e-01]
 [ 1.89262015e-01 -2.24923669e-02  9.81668978e-01  1.08074422e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.504860623999996 meters
Centerline goodness : 0.997746 with order 1
Centerline is valid?  [True, True]
Translation: X:57.48, Y:-0.87, Z:10.82
[[ 9.77231334e-01 -9.33256947e-02 -1.90549822e-01  5.74781497e+01]
 [ 9.58583103e-02  9.95386559e-01  4.09657870e-03 -8.65555719e-01]
 [ 1.89288416e-01 -2.22690891e-02  9.81668978e-01  1.08213200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.56486062399999 meters
Centerline goodness : 0.997899 with order 1
Centerline is valid?  [True, True]
Translation: X:57.54, Y:-0.87, Z:10.83
[[ 9.77432721e-01 -9.11929243e-02 -1.90549540e-01  5.75374397e+01]
 [ 9.36884381e-02  9.95593083e-01  4.10969378e-03 -8.69465285e-01]
 [ 1.89335029e-01 -2.18692379e-02  9.81668979e-01  1.08321112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.62486062399999 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:57.60, Y:-0.87, Z:10.84
[[ 9.77882605e-01 -8.62350418e-02 -1.90549545e-01  5.75963001e+01]
 [ 8.86383825e-02  9.96055395e-01  4.10944977e-03 -8.71504899e-01]
 [ 1.89443524e-01 -2.09085629e-02  9.81668979e-01  1.08432961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.684860623999995 meters
Centerline goodness : 0.997644 with order 1
Centerline is valid?  [True, True]
Translation: X:57.66, Y:-0.87, Z:10.85
[[ 9.78162967e-01 -8.29945606e-02 -1.90549500e-01  5.76554388e+01]
 [ 8.53380759e-02  9.96343569e-01  4.11152382e-03 -8.73647446e-01]
 [ 1.89511535e-01 -2.02828680e-02  9.81668979e-01  1.08543095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.74486062399999 meters
Centerline goodness : 0.998171 with order 1
Centerline is valid?  [True, True]
Translation: X:57.71, Y:-0.88, Z:10.86
[[ 9.78448673e-01 -7.95555689e-02 -1.90549482e-01  5.77140833e+01]
 [ 8.18353187e-02  9.96637381e-01  4.11234458e-03 -8.78514792e-01]
 [ 1.89581577e-01 -1.96173957e-02  9.81668979e-01  1.08646700e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.80486062399999 meters
Centerline goodness : 0.997799 with order 1
Centerline is valid?  [True, True]
Translation: X:57.77, Y:-0.88, Z:10.88
[[ 9.78529621e-01 -7.85535200e-02 -1.90549533e-01  5.77739275e+01]
 [ 8.08141863e-02  9.96720711e-01  4.10998037e-03 -8.81399808e-01]
 [ 1.89601813e-01 -1.94208430e-02  9.81668979e-01  1.08768395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.864860623999995 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:57.83, Y:-0.88, Z:10.89
[[ 9.78491056e-01 -7.90327743e-02 -1.90549399e-01  5.78331836e+01]
 [ 8.13035516e-02  9.96680886e-01  4.11621611e-03 -8.83342511e-01]
 [ 1.89591628e-01 -1.95200235e-02  9.81668979e-01  1.08909914e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.92486062399999 meters
Centerline goodness : 0.997966 with order 1
Centerline is valid?  [True, True]
Translation: X:57.89, Y:-0.89, Z:10.90
[[ 9.78327346e-01 -8.10342951e-02 -1.90549329e-01  5.78929907e+01]
 [ 8.33428956e-02  9.96512414e-01  4.11942082e-03 -8.86274421e-01]
 [ 1.89550958e-01 -1.99110749e-02  9.81668979e-01  1.09023920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 58.98486062399999 meters
Centerline goodness : 0.998535 with order 1
Centerline is valid?  [True, True]
Translation: X:57.95, Y:-0.89, Z:10.92
[[ 9.77796714e-01 -8.72042313e-02 -1.90549229e-01  5.79516225e+01]
 [ 8.96283984e-02  9.95966737e-01  4.12407693e-03 -8.91854512e-01]
 [ 1.89421057e-01 -2.11111311e-02  9.81668979e-01  1.09165758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.044860623999995 meters
Centerline goodness : 0.998458 with order 1
Centerline is valid?  [True, True]
Translation: X:58.01, Y:-0.90, Z:10.93
[[ 9.76979183e-01 -9.59305687e-02 -1.90549209e-01  5.80107346e+01]
 [ 9.85170373e-02  9.95126815e-01  4.12498900e-03 -8.97781416e-01]
 [ 1.89224915e-01 -2.28023719e-02  9.81668979e-01  1.09305124e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.104860624 meters
Centerline goodness : 0.998713 with order 1
Centerline is valid?  [True, True]
Translation: X:58.07, Y:-0.90, Z:10.94
[[ 9.76496918e-01 -1.00721274e-01 -1.90549191e-01  5.80704476e+01]
 [ 1.03396881e-01  9.94631622e-01  4.12581754e-03 -9.02420380e-01]
 [ 1.89110693e-01 -2.37310401e-02  9.81668979e-01  1.09402639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.16486062399999 meters
Centerline goodness : 0.998494 with order 1
Centerline is valid?  [True, True]
Translation: X:58.13, Y:-0.91, Z:10.95
[[ 9.76019982e-01 -1.05242593e-01 -1.90549182e-01  5.81292683e+01]
 [ 1.08002234e-01  9.94142088e-01  4.12621904e-03 -9.08392512e-01]
 [ 1.88998708e-01 -2.46070096e-02  9.81668979e-01  1.09522398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.224860623999994 meters
Centerline goodness : 0.998095 with order 1
Centerline is valid?  [True, True]
Translation: X:58.19, Y:-0.91, Z:10.97
[[ 9.75871764e-01 -1.06608269e-01 -1.90549147e-01  5.81888349e+01]
 [ 1.09393580e-01  9.93989942e-01  4.12785344e-03 -9.13800135e-01]
 [ 1.88963872e-01 -2.48731091e-02  9.81668979e-01  1.09650614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.284860624 meters
Centerline goodness : 0.998326 with order 1
Centerline is valid?  [True, True]
Translation: X:58.25, Y:-0.92, Z:10.98
[[ 9.75893642e-01 -1.06407935e-01 -1.90549076e-01  5.82492293e+01]
 [ 1.09190154e-01  9.94012296e-01  4.13111846e-03 -9.16945367e-01]
 [ 1.88968541e-01 -2.48376151e-02  9.81668979e-01  1.09781107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.34486062399999 meters
Centerline goodness : 0.998154 with order 1
Centerline is valid?  [True, True]
Translation: X:58.31, Y:-0.92, Z:10.99
[[ 9.76091501e-01 -1.04579068e-01 -1.90548155e-01  5.83077681e+01]
 [ 1.07335405e-01  9.94214109e-01  4.17318033e-03 -9.23251871e-01]
 [ 1.89009237e-01 -2.45259692e-02  9.81668979e-01  1.09876639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.404860623999994 meters
Centerline goodness : 0.996864 with order 1
Centerline is valid?  [True, True]
Translation: X:58.37, Y:-0.93, Z:11.00
[[ 9.76175652e-01 -1.03791152e-01 -1.90547876e-01  5.83671210e+01]
 [ 1.06535300e-01  9.94300110e-01  4.18589061e-03 -9.27199293e-01]
 [ 1.89027315e-01 -2.43862397e-02  9.81668980e-01  1.09979448e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.464860623999996 meters
Centerline goodness : 0.997402 with order 1
Centerline is valid?  [True, True]
Translation: X:58.43, Y:-0.93, Z:11.01
[[ 9.76594163e-01 -9.97766204e-02 -1.90547806e-01  5.84254198e+01]
 [ 1.02446833e-01  9.94729661e-01  4.18905619e-03 -9.31198516e-01]
 [ 1.89125585e-01 -2.36120271e-02  9.81668980e-01  1.10081685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.52486062399999 meters
Centerline goodness : 0.997342 with order 1
Centerline is valid?  [True, True]
Translation: X:58.48, Y:-0.94, Z:11.02
[[ 9.76980711e-01 -9.59176571e-02 -1.90547875e-01  5.84839212e+01]
 [ 9.85156021e-02  9.95126703e-01  4.18593574e-03 -9.35615380e-01]
 [ 1.89217773e-01 -2.28615171e-02  9.81668980e-01  1.10190079e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.584860623999994 meters
Centerline goodness : 0.997390 with order 1
Centerline is valid?  [True, True]
Translation: X:58.54, Y:-0.94, Z:11.03
[[ 9.77189917e-01 -9.37622979e-02 -1.90547886e-01  5.85449393e+01]
 [ 9.63201082e-02  9.95341609e-01  4.18541557e-03 -9.37989020e-01]
 [ 1.89267806e-01 -2.24435389e-02  9.81668980e-01  1.10294936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.644860623999996 meters
Centerline goodness : 0.997302 with order 1
Centerline is valid?  [True, True]
Translation: X:58.60, Y:-0.94, Z:11.04
[[ 9.77382971e-01 -9.17285687e-02 -1.90547626e-01  5.86045693e+01]
 [ 9.42508687e-02  9.95539631e-01  4.19721090e-03 -9.41973354e-01]
 [ 1.89312710e-01 -2.20615618e-02  9.81668980e-01  1.10420340e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.70486062399999 meters
Centerline goodness : 0.996662 with order 1
Centerline is valid?  [True, True]
Translation: X:58.66, Y:-0.95, Z:11.05
[[ 9.77469770e-01 -9.07989933e-02 -1.90547610e-01  5.86639592e+01]
 [ 9.33041704e-02  9.95628801e-01  4.19797050e-03 -9.45338495e-01]
 [ 1.89333517e-01 -2.18822759e-02  9.81668980e-01  1.10502956e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.76486062399999 meters
Centerline goodness : 0.996549 with order 1
Centerline is valid?  [True, True]
Translation: X:58.72, Y:-0.95, Z:11.07
[[ 9.77531542e-01 -9.01314209e-02 -1.90547663e-01  5.87247217e+01]
 [ 9.26237298e-02  9.95692343e-01  4.19554778e-03 -9.48838561e-01]
 [ 1.89348698e-01 -2.17505156e-02  9.81668980e-01  1.10659021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.824860623999996 meters
Centerline goodness : 0.996621 with order 1
Centerline is valid?  [True, True]
Translation: X:58.79, Y:-0.95, Z:11.08
[[ 9.77554512e-01 -8.98827122e-02 -1.90547301e-01  5.87850460e+01]
 [ 9.23735542e-02  9.95715515e-01  4.21193940e-03 -9.51852323e-01]
 [ 1.89352323e-01 -2.17189318e-02  9.81668980e-01  1.10752688e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.88486062399999 meters
Centerline goodness : 0.996610 with order 1
Centerline is valid?  [True, True]
Translation: X:58.84, Y:-0.96, Z:11.09
[[ 9.77502404e-01 -9.04481033e-02 -1.90547085e-01  5.88449608e+01]
 [ 9.29513220e-02  9.95661704e-01  4.22167575e-03 -9.56892158e-01]
 [ 1.89338593e-01 -2.18383017e-02  9.81668980e-01  1.10905659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 59.94486062399999 meters
Centerline goodness : 0.995807 with order 1
Centerline is valid?  [True, True]
Translation: X:58.91, Y:-0.96, Z:11.10
[[ 9.77414572e-01 -9.13927935e-02 -1.90546873e-01  5.89052604e+01]
 [ 9.39153985e-02  9.95571190e-01  4.23122595e-03 -9.62515976e-01]
 [ 1.89316274e-01 -2.20309474e-02  9.81668980e-01  1.11000501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.004860623999996 meters
Centerline goodness : 0.995566 with order 1
Centerline is valid?  [True, True]
Translation: X:58.96, Y:-0.97, Z:11.11
[[ 9.77481186e-01 -9.06777057e-02 -1.90546802e-01  5.89649501e+01]
 [ 9.31876397e-02  9.95639560e-01  4.23441157e-03 -9.65773505e-01]
 [ 1.89331968e-01 -2.18956644e-02  9.81668980e-01  1.11103829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.06486062399999 meters
Centerline goodness : 0.995918 with order 1
Centerline is valid?  [True, True]
Translation: X:59.02, Y:-0.97, Z:11.12
[[ 9.77619684e-01 -8.91724319e-02 -1.90546661e-01  5.90243878e+01]
 [ 9.16556219e-02  9.95781735e-01  4.24075276e-03 -9.70769213e-01]
 [ 1.89364726e-01 -2.16105161e-02  9.81668980e-01  1.11209079e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.12486062399999 meters
Centerline goodness : 0.995819 with order 1
Centerline is valid?  [True, True]
Translation: X:59.09, Y:-0.97, Z:11.13
[[ 9.77643442e-01 -8.89115842e-02 -1.90546660e-01  5.90852886e+01]
 [ 9.13899339e-02  9.95806154e-01  4.24078232e-03 -9.72767703e-01]
 [ 1.89370482e-01 -2.15600197e-02  9.81668980e-01  1.11326568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.184860623999995 meters
Centerline goodness : 0.995819 with order 1
Centerline is valid?  [True, True]
Translation: X:59.15, Y:-0.97, Z:11.14
[[ 9.77649299e-01 -8.88477447e-02 -1.90546388e-01  5.91462268e+01]
 [ 9.13272553e-02  9.95811852e-01  4.25297942e-03 -9.74204152e-01]
 [ 1.89370484e-01 -2.15600010e-02  9.81668980e-01  1.11444857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.24486062399999 meters
Centerline goodness : 0.995381 with order 1
Centerline is valid?  [True, True]
Translation: X:59.21, Y:-0.98, Z:11.16
[[ 9.77580080e-01 -8.96067242e-02 -1.90546115e-01  5.92074839e+01]
 [ 9.21026849e-02  9.95740380e-01  4.26519566e-03 -9.76827539e-01]
 [ 1.89352270e-01 -2.17193791e-02  9.81668980e-01  1.11565256e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.30486062399999 meters
Centerline goodness : 0.995725 with order 1
Centerline is valid?  [True, True]
Translation: X:59.27, Y:-0.98, Z:11.17
[[ 9.77551495e-01 -8.99186448e-02 -1.90545828e-01  5.92678501e+01]
 [ 9.24228541e-02  9.95710658e-01  4.27795335e-03 -9.79958926e-01]
 [ 1.89343844e-01 -2.17927090e-02  9.81668980e-01  1.11667500e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.364860623999995 meters
Centerline goodness : 0.996208 with order 1
Centerline is valid?  [True, True]
Translation: X:59.33, Y:-0.98, Z:11.18
[[ 9.77558227e-01 -8.98462824e-02 -1.90545423e-01  5.93287552e+01]
 [ 9.23526078e-02  9.95717099e-01  4.29594130e-03 -9.81479428e-01]
 [ 1.89343361e-01 -2.17968995e-02  9.81668980e-01  1.11780629e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.42486062399999 meters
Centerline goodness : 0.995800 with order 1
Centerline is valid?  [True, True]
Translation: X:59.39, Y:-0.98, Z:11.19
[[ 9.77771759e-01 -8.74924902e-02 -1.90545140e-01  5.93878147e+01]
 [ 8.99574926e-02  9.95936287e-01  4.30842766e-03 -9.80917392e-01]
 [ 1.89393865e-01 -2.13536220e-02  9.81668980e-01  1.11892214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.48486062399999 meters
Centerline goodness : 0.996070 with order 1
Centerline is valid?  [True, True]
Translation: X:59.45, Y:-0.98, Z:11.20
[[ 9.77971327e-01 -8.52328154e-02 -1.90545140e-01  5.94473503e+01]
 [ 8.76558365e-02  9.96141502e-01  4.30842766e-03 -9.82768064e-01]
 [ 1.89442703e-01 -2.09159124e-02  9.81668980e-01  1.12007897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.544860623999995 meters
Centerline goodness : 0.996305 with order 1
Centerline is valid?  [True, True]
Translation: X:59.51, Y:-0.98, Z:11.21
[[ 9.78211670e-01 -8.24287810e-02 -1.90545073e-01  5.95072042e+01]
 [ 8.48002757e-02  9.96388642e-01  4.31141167e-03 -9.82430399e-01]
 [ 1.89501562e-01 -2.03757479e-02  9.81668980e-01  1.12125672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.60486062399999 meters
Centerline goodness : 0.996757 with order 1
Centerline is valid?  [True, True]
Translation: X:59.57, Y:-0.98, Z:11.22
[[ 9.78682291e-01 -7.66392437e-02 -1.90545008e-01  5.95664692e+01]
 [ 7.89036997e-02  9.96872907e-01  4.31429771e-03 -9.80489896e-01]
 [ 1.89618511e-01 -1.92570328e-02  9.81668980e-01  1.12243246e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.66486062399999 meters
Centerline goodness : 0.996672 with order 1
Centerline is valid?  [True, True]
Translation: X:59.63, Y:-0.98, Z:11.23
[[ 9.79089189e-01 -7.12527594e-02 -1.90545021e-01  5.96259758e+01]
 [ 7.34169704e-02  9.97292004e-01  4.31370421e-03 -9.79018360e-01]
 [ 1.89721663e-01 -1.82127393e-02  9.81668980e-01  1.12343506e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.724860623999994 meters
Centerline goodness : 0.997010 with order 1
Centerline is valid?  [True, True]
Translation: X:59.68, Y:-0.98, Z:11.25
[[ 9.78906420e-01 -7.37212672e-02 -1.90544996e-01  5.96843885e+01]
 [ 7.59315861e-02  9.97103694e-01  4.31483016e-03 -9.77149037e-01]
 [ 1.89675024e-01 -1.86921987e-02  9.81668980e-01  1.12464373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.784860624 meters
Centerline goodness : 0.996609 with order 1
Centerline is valid?  [True, True]
Translation: X:59.74, Y:-0.98, Z:11.26
[[ 9.78603174e-01 -7.76428327e-02 -1.90545054e-01  5.97443776e+01]
 [ 7.99255508e-02  9.96791508e-01  4.31226892e-03 -9.77887758e-01]
 [ 1.89598875e-01 -1.94494184e-02  9.81668980e-01  1.12578950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.84486062399999 meters
Centerline goodness : 0.997095 with order 1
Centerline is valid?  [True, True]
Translation: X:59.80, Y:-0.98, Z:11.27
[[ 9.77968125e-01 -8.52699867e-02 -1.90544943e-01  5.98026706e+01]
 [ 8.76953787e-02  9.96137984e-01  4.31715753e-03 -9.78662148e-01]
 [ 1.89440931e-01 -2.09319534e-02  9.81668980e-01  1.12693691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.904860623999994 meters
Centerline goodness : 0.997010 with order 1
Centerline is valid?  [True, True]
Translation: X:59.86, Y:-0.98, Z:11.28
[[ 9.77632656e-01 -8.90340373e-02 -1.90544824e-01  5.98622762e+01]
 [ 9.15303650e-02  9.95792905e-01  4.32240125e-03 -9.78263936e-01]
 [ 1.89358343e-01 -2.16663579e-02  9.81668980e-01  1.12822508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 60.964860623999996 meters
Centerline goodness : 0.997176 with order 1
Centerline is valid?  [True, True]
Translation: X:59.92, Y:-0.98, Z:11.29
[[ 9.77406167e-01 -9.14869493e-02 -1.90544807e-01  5.99224354e+01]
 [ 9.40289812e-02  9.95560074e-01  4.32314094e-03 -9.79613940e-01]
 [ 1.89303291e-01 -2.21421987e-02  9.81668980e-01  1.12939557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.02486062399999 meters
Centerline goodness : 0.997135 with order 1
Centerline is valid?  [True, True]
Translation: X:59.98, Y:-0.98, Z:11.30
[[ 9.77183454e-01 -9.38361931e-02 -1.90544659e-01  5.99817645e+01]
 [ 9.64231110e-02  9.95331019e-01  4.32966658e-03 -9.79110049e-01]
 [ 1.89248730e-01 -2.26037873e-02  9.81668980e-01  1.13037537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.084860623999994 meters
Centerline goodness : 0.996750 with order 1
Centerline is valid?  [True, True]
Translation: X:60.04, Y:-0.98, Z:11.32
[[ 9.77113896e-01 -9.45576223e-02 -1.90544721e-01  6.00416338e+01]
 [ 9.71574104e-02  9.95259622e-01  4.32692322e-03 -9.76825794e-01]
 [ 1.89232324e-01 -2.27407285e-02  9.81668980e-01  1.13182033e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.144860623999996 meters
Centerline goodness : 0.997324 with order 1
Centerline is valid?  [True, True]
Translation: X:60.10, Y:-0.98, Z:11.33
[[ 9.77328862e-01 -9.23095913e-02 -1.90544575e-01  6.01003986e+01]
 [ 9.48688669e-02  9.95480346e-01  4.33335736e-03 -9.75971435e-01]
 [ 1.89283369e-01 -2.23118631e-02  9.81668980e-01  1.13295971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.20486062399999 meters
Centerline goodness : 0.997691 with order 1
Centerline is valid?  [True, True]
Translation: X:60.16, Y:-0.97, Z:11.34
[[ 9.77765978e-01 -8.75583094e-02 -1.90544575e-01  6.01598268e+01]
 [ 9.00293316e-02  9.95929687e-01  4.33335736e-03 -9.73342993e-01]
 [ 1.89389577e-01 -2.13916101e-02  9.81668980e-01  1.13412235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.26486062399999 meters
Centerline goodness : 0.997775 with order 1
Centerline is valid?  [True, True]
Translation: X:60.22, Y:-0.97, Z:11.35
[[ 9.78104118e-01 -8.36964542e-02 -1.90544581e-01  6.02200610e+01]
 [ 8.60956730e-02  9.96277451e-01  4.33306607e-03 -9.72253730e-01]
 [ 1.89472608e-01 -2.06432537e-02  9.81668980e-01  1.13519126e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.324860623999996 meters
Centerline goodness : 0.998101 with order 1
Centerline is valid?  [True, True]
Translation: X:60.28, Y:-0.97, Z:11.36
[[ 9.78529720e-01 -7.85644700e-02 -1.90544515e-01  6.02790481e+01]
 [ 8.08688889e-02  9.96715316e-01  4.33599769e-03 -9.70468515e-01]
 [ 1.89577981e-01 -1.96520258e-02  9.81668980e-01  1.13646151e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.38486062399999 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:60.34, Y:-0.97, Z:11.38
[[ 9.78711786e-01 -7.62629842e-02 -1.90544477e-01  6.03390967e+01]
 [ 7.85249482e-02  9.96902712e-01  4.33765632e-03 -9.69755734e-01]
 [ 1.89623503e-01 -1.92078105e-02  9.81668980e-01  1.13770028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.44486062399999 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:60.40, Y:-0.97, Z:11.39
[[ 9.78856270e-01 -7.43858855e-02 -1.90544331e-01  6.03991858e+01]
 [ 7.66141951e-02  9.97051350e-01  4.34406929e-03 -9.66995837e-01]
 [ 1.89659345e-01 -1.88506200e-02  9.81668980e-01  1.13892248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.504860623999996 meters
Centerline goodness : 0.998156 with order 1
Centerline is valid?  [True, True]
Translation: X:60.46, Y:-0.96, Z:11.40
[[ 9.78743726e-01 -7.58525180e-02 -1.90544258e-01  6.04609880e+01]
 [ 7.81087003e-02  9.96935370e-01  4.34724341e-03 -9.64947386e-01]
 [ 1.89630561e-01 -1.91380016e-02  9.81668980e-01  1.13999003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.56486062399999 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:60.52, Y:-0.97, Z:11.41
[[ 9.78527172e-01 -7.85975074e-02 -1.90543970e-01  6.05201602e+01]
 [ 8.09071310e-02  9.96712109e-01  4.35982721e-03 -9.65316820e-01]
 [ 1.89574811e-01 -1.96825754e-02  9.81668980e-01  1.14112873e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.62486062399999 meters
Centerline goodness : 0.998645 with order 1
Centerline is valid?  [True, True]
Translation: X:60.58, Y:-0.96, Z:11.43
[[ 9.78059533e-01 -8.42172934e-02 -1.90543954e-01  6.05789811e+01]
 [ 8.66314797e-02  9.96230883e-01  4.36054781e-03 -9.63332384e-01]
 [ 1.89458538e-01 -2.07719800e-02  9.81668980e-01  1.14267598e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.684860623999995 meters
Centerline goodness : 0.998846 with order 1
Centerline is valid?  [True, True]
Translation: X:60.64, Y:-0.96, Z:11.44
[[ 9.77977898e-01 -8.51600826e-02 -1.90543936e-01  6.06380719e+01]
 [ 8.75919317e-02  9.96146893e-01  4.36131226e-03 -9.63812707e-01]
 [ 1.89438340e-01 -2.09553785e-02  9.81668980e-01  1.14374168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.74486062399999 meters
Centerline goodness : 0.999163 with order 1
Centerline is valid?  [True, True]
Translation: X:60.70, Y:-0.96, Z:11.45
[[ 9.77979574e-01 -8.51408340e-02 -1.90543936e-01  6.06975420e+01]
 [ 8.75723256e-02  9.96148617e-01  4.36131226e-03 -9.64428374e-01]
 [ 1.89438753e-01 -2.09516499e-02  9.81668980e-01  1.14502325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.80486062399999 meters
Centerline goodness : 0.998503 with order 1
Centerline is valid?  [True, True]
Translation: X:60.76, Y:-0.96, Z:11.46
[[ 9.78043531e-01 -8.44031295e-02 -1.90543862e-01  6.07590130e+01]
 [ 8.68215369e-02  9.96214320e-01  4.36453955e-03 -9.63540156e-01]
 [ 1.89454144e-01 -2.08120207e-02  9.81668980e-01  1.14629135e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.864860623999995 meters
Centerline goodness : 0.998842 with order 1
Centerline is valid?  [True, True]
Translation: X:60.82, Y:-0.96, Z:11.48
[[ 9.78141367e-01 -8.32624940e-02 -1.90543496e-01  6.08191786e+01]
 [ 8.56627756e-02  9.96314559e-01  4.38046610e-03 -9.64401920e-01]
 [ 1.89476531e-01 -2.06071999e-02  9.81668981e-01  1.14772399e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.92486062399999 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:60.88, Y:-0.97, Z:11.49
[[ 9.78256607e-01 -8.18979314e-02 -1.90543277e-01  6.08790252e+01]
 [ 8.42746929e-02  9.96432890e-01  4.38998764e-03 -9.65104489e-01]
 [ 1.89504057e-01 -2.03525106e-02  9.81668981e-01  1.14888702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 61.98486062399999 meters
Centerline goodness : 0.998655 with order 1
Centerline is valid?  [True, True]
Translation: X:60.94, Y:-0.96, Z:11.50
[[ 9.78290996e-01 -8.14861874e-02 -1.90543248e-01  6.09392718e+01]
 [ 8.38555440e-02  9.96468246e-01  4.39126241e-03 -9.64605514e-01]
 [ 1.89512468e-01 -2.02740402e-02  9.81668981e-01  1.14994269e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.044860623999995 meters
Centerline goodness : 0.998837 with order 1
Centerline is valid?  [True, True]
Translation: X:61.00, Y:-0.97, Z:11.51
[[ 9.78334570e-01 -8.09618568e-02 -1.90543032e-01  6.10002934e+01]
 [ 8.33232678e-02  9.96512854e-01  4.40059331e-03 -9.65483528e-01]
 [ 1.89522301e-01 -2.01819207e-02  9.81668981e-01  1.15096449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.10486062399999 meters
Centerline goodness : 0.998376 with order 1
Centerline is valid?  [True, True]
Translation: X:61.06, Y:-0.97, Z:11.52
[[ 9.78404368e-01 -8.01144650e-02 -1.90542819e-01  6.10600326e+01]
 [ 8.24619009e-02  9.96584461e-01  4.40978623e-03 -9.65919268e-01]
 [ 1.89538725e-01 -2.00270772e-02  9.81668981e-01  1.15196310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.16486062399999 meters
Centerline goodness : 0.998485 with order 1
Centerline is valid?  [True, True]
Translation: X:61.12, Y:-0.96, Z:11.53
[[ 9.78430187e-01 -7.97985192e-02 -1.90542819e-01  6.11199454e+01]
 [ 8.21400844e-02  9.96611038e-01  4.40978623e-03 -9.63397645e-01]
 [ 1.89545183e-01 -1.99658712e-02  9.81668981e-01  1.15344023e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.224860623999994 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:61.18, Y:-0.96, Z:11.55
[[ 9.78421899e-01 -7.99004165e-02 -1.90542678e-01  6.11805926e+01]
 [ 8.22450536e-02  9.96602353e-01  4.41590503e-03 -9.62011647e-01]
 [ 1.89542448e-01 -1.99918109e-02  9.81668981e-01  1.15475379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.284860624 meters
Centerline goodness : 0.999100 with order 1
Centerline is valid?  [True, True]
Translation: X:61.24, Y:-0.96, Z:11.56
[[ 9.78421876e-01 -7.99013803e-02 -1.90542388e-01  6.12412179e+01]
 [ 8.22484391e-02  9.96602019e-01  4.42838529e-03 -9.62625198e-01]
 [ 1.89541094e-01 -2.00046430e-02  9.81668981e-01  1.15591018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.34486062399999 meters
Centerline goodness : 0.998748 with order 1
Centerline is valid?  [True, True]
Translation: X:61.30, Y:-0.96, Z:11.57
[[ 9.78409722e-01 -8.00505928e-02 -1.90542172e-01  6.13014311e+01]
 [ 8.24022072e-02  9.96589275e-01  4.43764375e-03 -9.62206312e-01]
 [ 1.89537049e-01 -2.00429293e-02  9.81668981e-01  1.15697451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.404860623999994 meters
Centerline goodness : 0.998816 with order 1
Centerline is valid?  [True, True]
Translation: X:61.36, Y:-0.96, Z:11.58
[[ 9.78426472e-01 -7.98461061e-02 -1.90541959e-01  6.13621867e+01]
 [ 8.21956763e-02  9.96606290e-01  4.44675827e-03 -9.62307642e-01]
 [ 1.89540259e-01 -2.00125512e-02  9.81668981e-01  1.15828449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.464860623999996 meters
Centerline goodness : 0.998839 with order 1
Centerline is valid?  [True, True]
Translation: X:61.42, Y:-0.96, Z:11.59
[[ 9.78415923e-01 -7.99759588e-02 -1.90541671e-01  6.14227818e+01]
 [ 8.23303135e-02  9.96595121e-01  4.45907331e-03 -9.63202236e-01]
 [ 1.89536281e-01 -2.00501838e-02  9.81668981e-01  1.15945671e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.52486062399999 meters
Centerline goodness : 0.998282 with order 1
Centerline is valid?  [True, True]
Translation: X:61.48, Y:-0.96, Z:11.61
[[ 9.78267670e-01 -8.17700845e-02 -1.90541386e-01  6.14810331e+01]
 [ 8.41601100e-02  9.96442213e-01  4.47121068e-03 -9.64202912e-01]
 [ 1.89497869e-01 -2.04100249e-02  9.81668981e-01  1.16101022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.584860623999994 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:61.54, Y:-0.97, Z:11.62
[[ 9.78174241e-01 -8.28800999e-02 -1.90541445e-01  6.15409088e+01]
 [ 8.52902626e-02  9.96346126e-01  4.46869475e-03 -9.66048444e-01]
 [ 1.89474865e-01 -2.06224920e-02  9.81668981e-01  1.16196058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.644860623999996 meters
Centerline goodness : 0.998470 with order 1
Centerline is valid?  [True, True]
Translation: X:61.60, Y:-0.97, Z:11.62
[[ 9.77897730e-01 -8.60814497e-02 -1.90541370e-01  6.16008942e+01]
 [ 8.85517002e-02  9.96061543e-01  4.47191538e-03 -9.68586509e-01]
 [ 1.89405982e-01 -2.12458381e-02  9.81668981e-01  1.16245424e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.70486062399999 meters
Centerline goodness : 0.999049 with order 1
Centerline is valid?  [True, True]
Translation: X:61.66, Y:-0.97, Z:11.64
[[ 9.77641071e-01 -8.89492117e-02 -1.90541265e-01  6.16595063e+01]
 [ 9.14735801e-02  9.95797442e-01  4.47635972e-03 -9.68327616e-01]
 [ 1.89342336e-01 -2.18057648e-02  9.81668981e-01  1.16409176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.76486062399999 meters
Centerline goodness : 0.998464 with order 1
Centerline is valid?  [True, True]
Translation: X:61.72, Y:-0.97, Z:11.66
[[ 9.77665212e-01 -8.86835048e-02 -1.90541252e-01  6.17198634e+01]
 [ 9.12030469e-02  9.95822254e-01  4.47692345e-03 -9.67940730e-01]
 [ 1.89348190e-01 -2.17548751e-02  9.81668981e-01  1.16554522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.824860623999996 meters
Centerline goodness : 0.998694 with order 1
Centerline is valid?  [True, True]
Translation: X:61.78, Y:-0.97, Z:11.67
[[ 9.77756426e-01 -8.76727989e-02 -1.90540943e-01  6.17801903e+01]
 [ 9.01760893e-02  9.95915716e-01  4.49001971e-03 -9.66558728e-01]
 [ 1.89369067e-01 -2.15723828e-02  9.81668981e-01  1.16686763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.88486062399999 meters
Centerline goodness : 0.998854 with order 1
Centerline is valid?  [True, True]
Translation: X:61.84, Y:-0.97, Z:11.68
[[ 9.77791454e-01 -8.72820245e-02 -1.90540601e-01  6.18404898e+01]
 [ 8.97808418e-02  9.95951359e-01  4.50449380e-03 -9.66288092e-01]
 [ 1.89376009e-01 -2.15113511e-02  9.81668981e-01  1.16786991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 62.94486062399999 meters
Centerline goodness : 0.998596 with order 1
Centerline is valid?  [True, True]
Translation: X:61.90, Y:-0.97, Z:11.69
[[ 9.77753489e-01 -8.77068021e-02 -1.90540369e-01  6.19013447e+01]
 [ 9.02153925e-02  9.95912046e-01  4.51428752e-03 -9.67380547e-01]
 [ 1.89365515e-01 -2.16035346e-02  9.81668981e-01  1.16895660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.004860623999996 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:61.96, Y:-0.97, Z:11.70
[[ 9.77736112e-01 -8.79009480e-02 -1.90540072e-01  6.19620175e+01]
 [ 9.04155547e-02  9.95893837e-01  4.52681973e-03 -9.67569553e-01]
 [ 1.89359771e-01 -2.16538214e-02  9.81668981e-01  1.17035332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.06486062399999 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:62.02, Y:-0.97, Z:11.72
[[ 9.77813244e-01 -8.70393975e-02 -1.90539767e-01  6.20216680e+01]
 [ 8.95404625e-02  9.95972840e-01  4.53959924e-03 -9.67600022e-01]
 [ 1.89377309e-01 -2.14998991e-02  9.81668981e-01  1.17152947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.12486062399999 meters
Centerline goodness : 0.998988 with order 1
Centerline is valid?  [True, True]
Translation: X:62.08, Y:-0.97, Z:11.73
[[ 9.77994673e-01 -8.49769041e-02 -1.90539615e-01  6.20822820e+01]
 [ 8.74408857e-02  9.96159338e-01  4.54595159e-03 -9.69513483e-01]
 [ 1.89421516e-01 -2.11068692e-02  9.81668982e-01  1.17254904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.184860623999995 meters
Centerline goodness : 0.998490 with order 1
Centerline is valid?  [True, True]
Translation: X:62.14, Y:-0.97, Z:11.74
[[ 9.78080236e-01 -8.39867044e-02 -1.90539457e-01  6.21415142e+01]
 [ 8.64335688e-02  9.96247214e-01  4.55257463e-03 -9.69490541e-01]
 [ 1.89442048e-01 -2.09217886e-02  9.81668982e-01  1.17359501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.24486062399999 meters
Centerline goodness : 0.998749 with order 1
Centerline is valid?  [True, True]
Translation: X:62.20, Y:-0.97, Z:11.75
[[ 9.78158613e-01 -8.30689032e-02 -1.90539457e-01  6.22025562e+01]
 [ 8.54987199e-02  9.96327879e-01  4.55257463e-03 -9.70532991e-01]
 [ 1.89461596e-01 -2.07440198e-02  9.81668982e-01  1.17485446e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.30486062399999 meters
Centerline goodness : 0.998771 with order 1
Centerline is valid?  [True, True]
Translation: X:62.26, Y:-0.97, Z:11.76
[[ 9.77987011e-01 -8.50660628e-02 -1.90539159e-01  6.22633868e+01]
 [ 8.75353684e-02  9.96150952e-01  4.56501354e-03 -9.71999022e-01]
 [ 1.89417437e-01 -2.11434394e-02  9.81668982e-01  1.17612564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.364860623999995 meters
Centerline goodness : 0.998582 with order 1
Centerline is valid?  [True, True]
Translation: X:62.32, Y:-0.97, Z:11.77
[[ 9.77902188e-01 -8.60363729e-02 -1.90538852e-01  6.23223481e+01]
 [ 8.85261592e-02  9.96063333e-01  4.57779793e-03 -9.72583742e-01]
 [ 1.89394907e-01 -2.13443114e-02  9.81668982e-01  1.17726565e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.42486062399999 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:62.38, Y:-0.97, Z:11.78
[[ 9.77738575e-01 -8.78762703e-02 -1.90538815e-01  6.23824417e+01]
 [ 9.04005228e-02  9.95894962e-01  4.57934754e-03 -9.74601339e-01]
 [ 1.89354230e-01 -2.17022132e-02  9.81668982e-01  1.17823057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.48486062399999 meters
Centerline goodness : 0.999084 with order 1
Centerline is valid?  [True, True]
Translation: X:62.44, Y:-0.98, Z:11.79
[[ 9.77609144e-01 -8.93047008e-02 -1.90538796e-01  6.24433699e+01]
 [ 9.18556252e-02  9.95761802e-01  4.58011315e-03 -9.76616371e-01]
 [ 1.89322230e-01 -2.19796208e-02  9.81668982e-01  1.17922684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.544860623999995 meters
Centerline goodness : 0.998799 with order 1
Centerline is valid?  [True, True]
Translation: X:62.50, Y:-0.98, Z:11.80
[[ 9.77444822e-01 -9.10860895e-02 -1.90538565e-01  6.25025442e+01]
 [ 9.36719357e-02  9.95592539e-01  4.58971319e-03 -9.77591638e-01]
 [ 1.89280715e-01 -2.23343076e-02  9.81668982e-01  1.18042502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.60486062399999 meters
Centerline goodness : 0.999224 with order 1
Centerline is valid?  [True, True]
Translation: X:62.56, Y:-0.98, Z:11.82
[[ 9.77415695e-01 -9.13981394e-02 -1.90538552e-01  6.25619949e+01]
 [ 9.39898842e-02  9.95562570e-01  4.59025939e-03 -9.79361027e-01]
 [ 1.89273509e-01 -2.23952880e-02  9.81668982e-01  1.18178878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.66486062399999 meters
Centerline goodness : 0.998991 with order 1
Centerline is valid?  [True, True]
Translation: X:62.62, Y:-0.98, Z:11.83
[[ 9.77382598e-01 -9.17515546e-02 -1.90538472e-01  6.26221411e+01]
 [ 9.43504986e-02  9.95528444e-01  4.59357670e-03 -9.81553251e-01]
 [ 1.89265001e-01 -2.24670818e-02  9.81668982e-01  1.18292610e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.724860623999994 meters
Centerline goodness : 0.998852 with order 1
Centerline is valid?  [True, True]
Translation: X:62.68, Y:-0.98, Z:11.84
[[ 9.77388092e-01 -9.16942604e-02 -1.90537871e-01  6.26834626e+01]
 [ 9.42969100e-02  9.95533406e-01  4.61838685e-03 -9.83535593e-01]
 [ 1.89263336e-01 -2.24810888e-02  9.81668982e-01  1.18421544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.78486062399999 meters
Centerline goodness : 0.998643 with order 1
Centerline is valid?  [True, True]
Translation: X:62.74, Y:-0.98, Z:11.85
[[ 9.77463450e-01 -9.08899588e-02 -1.90536660e-01  6.27443757e+01]
 [ 9.34871784e-02  9.95609541e-01  4.66781455e-03 -9.84927419e-01]
 [ 1.89275859e-01 -2.23753529e-02  9.81668983e-01  1.18532375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.84486062399999 meters
Centerline goodness : 0.998877 with order 1
Centerline is valid?  [True, True]
Translation: X:62.80, Y:-0.99, Z:11.87
[[ 9.77558525e-01 -8.98621350e-02 -1.90536419e-01  6.28043943e+01]
 [ 9.24421589e-02  9.95707069e-01  4.67762229e-03 -9.87075721e-01]
 [ 1.89298119e-01 -2.21862475e-02  9.81668983e-01  1.18655645e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.904860623999994 meters
Centerline goodness : 0.998427 with order 1
Centerline is valid?  [True, True]
Translation: X:62.87, Y:-0.99, Z:11.88
[[ 9.77566303e-01 -8.97776543e-02 -1.90536339e-01  6.28655702e+01]
 [ 9.23567394e-02  9.95714980e-01  4.68089731e-03 -9.88687177e-01]
 [ 1.89299647e-01 -2.21732025e-02  9.81668983e-01  1.18776983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 63.964860623999996 meters
Centerline goodness : 0.998474 with order 1
Centerline is valid?  [True, True]
Translation: X:62.93, Y:-0.99, Z:11.89
[[ 9.77500014e-01 -9.04972448e-02 -1.90536012e-01  6.29254499e+01]
 [ 9.30922388e-02  9.95646423e-01  4.69416026e-03 -9.91009093e-01]
 [ 1.89281690e-01 -2.23259657e-02  9.81668983e-01  1.18871469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.024860624 meters
Centerline goodness : 0.998738 with order 1
Centerline is valid?  [True, True]
Translation: X:62.99, Y:-0.99, Z:11.90
[[ 9.77375214e-01 -9.18364566e-02 -1.90535446e-01  6.29859161e+01]
 [ 9.44607050e-02  9.95517416e-01  4.71702192e-03 -9.93760132e-01]
 [ 1.89248160e-01 -2.26084129e-02  9.81668984e-01  1.18976270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.08486062399999 meters
Centerline goodness : 0.998855 with order 1
Centerline is valid?  [True, True]
Translation: X:63.05, Y:-1.00, Z:11.91
[[ 9.77123326e-01 -9.44791643e-02 -1.90535283e-01  6.30462142e+01]
 [ 9.71537315e-02  9.95258177e-01  4.72362027e-03 -9.97063516e-01]
 [ 1.89185514e-01 -2.31267732e-02  9.81668984e-01  1.19090234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.14486062399999 meters
Centerline goodness : 0.998672 with order 1
Centerline is valid?  [True, True]
Translation: X:63.11, Y:-1.00, Z:11.92
[[ 9.77022616e-01 -9.55152813e-02 -1.90535138e-01  6.31050920e+01]
 [ 9.82101973e-02  9.95154455e-01  4.72944855e-03 -9.99430981e-01]
 [ 1.89160157e-01 -2.33332717e-02  9.81668984e-01  1.19203455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.20486062399999 meters
Centerline goodness : 0.998746 with order 1
Centerline is valid?  [True, True]
Translation: X:63.16, Y:-1.00, Z:11.93
[[ 9.76890732e-01 -9.68554227e-02 -1.90534841e-01  6.31640905e+01]
 [ 9.95774988e-02  9.95018513e-01  4.74137404e-03 -1.00418615e+00]
 [ 1.89126467e-01 -2.36047873e-02  9.81668984e-01  1.19330682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.264860624 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:63.23, Y:-1.01, Z:11.94
[[ 9.76810987e-01 -9.76564448e-02 -1.90534812e-01  6.32252263e+01]
 [ 1.00393614e-01  9.94936496e-01  4.74256649e-03 -1.00812419e+00]
 [ 1.89106896e-01 -2.37610694e-02  9.81668984e-01  1.19446108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.324860624 meters
Centerline goodness : 0.998872 with order 1
Centerline is valid?  [True, True]
Translation: X:63.28, Y:-1.01, Z:11.96
[[ 9.76708512e-01 -9.86766970e-02 -1.90534490e-01  6.32849525e+01]
 [ 1.01435267e-01  9.94830776e-01  4.75543151e-03 -1.01269874e+00]
 [ 1.89080325e-01 -2.39715874e-02  9.81668984e-01  1.19566804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.384860624 meters
Centerline goodness : 0.998624 with order 1
Centerline is valid?  [True, True]
Translation: X:63.34, Y:-1.02, Z:11.97
[[ 9.76759457e-01 -9.81714884e-02 -1.90534305e-01  6.33443265e+01]
 [ 1.00922109e-01  9.94882929e-01  4.76285219e-03 -1.01690581e+00]
 [ 1.89091751e-01 -2.38812849e-02  9.81668984e-01  1.19657455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.44486062399999 meters
Centerline goodness : 0.998580 with order 1
Centerline is valid?  [True, True]
Translation: X:63.41, Y:-1.02, Z:11.98
[[ 9.76928836e-01 -9.64712877e-02 -1.90534354e-01  6.34050277e+01]
 [ 9.91899823e-02  9.95057125e-01  4.76088299e-03 -1.01954456e+00]
 [ 1.89133278e-01 -2.35501431e-02  9.81668984e-01  1.19786751e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.50486062399999 meters
Centerline goodness : 0.998650 with order 1
Centerline is valid?  [True, True]
Translation: X:63.46, Y:-1.02, Z:11.99
[[ 9.77227010e-01 -9.34032049e-02 -1.90534019e-01  6.34644337e+01]
 [ 9.60675349e-02  9.95363368e-01  4.77427210e-03 -1.02172800e+00]
 [ 1.89204650e-01 -2.29696811e-02  9.81668984e-01  1.19918567e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.56486062399999 meters
Centerline goodness : 0.998649 with order 1
Centerline is valid?  [True, True]
Translation: X:63.52, Y:-1.02, Z:12.00
[[ 9.77392841e-01 -9.16517986e-02 -1.90533942e-01  6.35234258e+01]
 [ 9.42842114e-02  9.95533859e-01  4.77733505e-03 -1.02428687e+00]
 [ 1.89245139e-01 -2.26336755e-02  9.81668984e-01  1.20031937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.624860624 meters
Centerline goodness : 0.999176 with order 1
Centerline is valid?  [True, True]
Translation: X:63.58, Y:-1.03, Z:12.01
[[ 9.77613150e-01 -8.92711995e-02 -1.90533941e-01  6.35816062e+01]
 [ 9.18594285e-02  9.95760525e-01  4.77735759e-03 -1.02726964e+00]
 [ 1.89299697e-01 -2.21727466e-02  9.81668984e-01  1.20135854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.684860624 meters
Centerline goodness : 0.998380 with order 1
Centerline is valid?  [True, True]
Translation: X:63.64, Y:-1.03, Z:12.03
[[ 9.77639951e-01 -8.89769315e-02 -1.90534070e-01  6.36424446e+01]
 [ 9.15587123e-02  9.95788245e-01  4.77223113e-03 -1.02917603e+00]
 [ 1.89306968e-01 -2.21105779e-02  9.81668984e-01  1.20259835e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.744860624 meters
Centerline goodness : 0.998224 with order 1
Centerline is valid?  [True, True]
Translation: X:63.70, Y:-1.03, Z:12.04
[[ 9.77522847e-01 -9.02550636e-02 -1.90533744e-01  6.37011625e+01]
 [ 9.28630650e-02  9.95667391e-01  4.78520982e-03 -1.03343578e+00]
 [ 1.89276346e-01 -2.23711994e-02  9.81668984e-01  1.20362532e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.804860624 meters
Centerline goodness : 0.998728 with order 1
Centerline is valid?  [True, True]
Translation: X:63.76, Y:-1.04, Z:12.05
[[ 9.77365116e-01 -9.19476218e-02 -1.90533630e-01  6.37610117e+01]
 [ 9.45879073e-02  9.95504991e-01  4.78973010e-03 -1.03677531e+00]
 [ 1.89236775e-01 -2.27034925e-02  9.81668984e-01  1.20476033e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.86486062399999 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:63.82, Y:-1.04, Z:12.06
[[ 9.77118937e-01 -9.45280368e-02 -1.90533551e-01  6.38209451e+01]
 [ 9.72168198e-02  9.95251686e-01  4.79289688e-03 -1.03975055e+00]
 [ 1.89175774e-01 -2.32062962e-02  9.81668984e-01  1.20586470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.92486062399999 meters
Centerline goodness : 0.998643 with order 1
Centerline is valid?  [True, True]
Translation: X:63.88, Y:-1.04, Z:12.07
[[ 9.76984743e-01 -9.59050726e-02 -1.90533536e-01  6.38805493e+01]
 [ 9.86195176e-02  9.95113669e-01  4.79346323e-03 -1.04280047e+00]
 [ 1.89142809e-01 -2.34734659e-02  9.81668984e-01  1.20701990e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 64.98486062399999 meters
Centerline goodness : 0.998495 with order 1
Centerline is valid?  [True, True]
Translation: X:63.94, Y:-1.05, Z:12.08
[[ 9.76653921e-01 -9.92175510e-02 -1.90533453e-01  6.39390372e+01]
 [ 1.01994095e-01  9.94773439e-01  4.79678613e-03 -1.04797018e+00]
 [ 1.89061693e-01 -2.41180870e-02  9.81668984e-01  1.20808845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.044860624 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:64.00, Y:-1.05, Z:12.10
[[ 9.76357049e-01 -1.02097453e-01 -1.90533523e-01  6.39975912e+01]
 [ 1.04926882e-01  9.94468384e-01  4.79397260e-03 -1.05190306e+00]
 [ 1.88990113e-01 -2.46727175e-02  9.81668984e-01  1.20955553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.104860624 meters
Centerline goodness : 0.998359 with order 1
Centerline is valid?  [True, True]
Translation: X:64.06, Y:-1.05, Z:12.11
[[ 9.76290816e-01 -1.02728957e-01 -1.90533473e-01  6.40590073e+01]
 [ 1.05570488e-01  9.94400257e-01  4.79598886e-03 -1.05466639e+00]
 [ 1.88973847e-01 -2.47969915e-02  9.81668984e-01  1.21073908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.164860624 meters
Centerline goodness : 0.998473 with order 1
Centerline is valid?  [True, True]
Translation: X:64.12, Y:-1.06, Z:12.12
[[ 9.76340301e-01 -1.02258206e-01 -1.90533135e-01  6.41188111e+01]
 [ 1.05093574e-01  9.94450708e-01  4.80937931e-03 -1.05871818e+00]
 [ 1.88984012e-01 -2.47193990e-02  9.81668984e-01  1.21182255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.22486062399999 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:64.18, Y:-1.06, Z:12.13
[[ 9.76529196e-01 -1.00438629e-01 -1.90532967e-01  6.41776334e+01]
 [ 1.03241517e-01  9.94644658e-01  4.81601605e-03 -1.05895799e+00]
 [ 1.89028884e-01 -2.43738929e-02  9.81668984e-01  1.21297739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.28486062399999 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:64.24, Y:-1.06, Z:12.14
[[ 9.77041869e-01 -9.53224730e-02 -1.90532967e-01  6.42355480e+01]
 [ 9.80304390e-02  9.95171764e-01  4.81601605e-03 -1.05795824e+00]
 [ 1.89153954e-01 -2.33834797e-02  9.81668984e-01  1.21419237e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.34486062399999 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:64.30, Y:-1.06, Z:12.15
[[ 9.77384138e-01 -9.17464104e-02 -1.90533051e-01  6.42954814e+01]
 [ 9.43873718e-02  9.95523913e-01  4.81267895e-03 -1.05855874e+00]
 [ 1.89238663e-01 -2.26877500e-02  9.81668984e-01  1.21534346e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.404860624 meters
Centerline goodness : 0.998738 with order 1
Centerline is valid?  [True, True]
Translation: X:64.35, Y:-1.06, Z:12.17
[[ 9.77728478e-01 -8.80010136e-02 -1.90533053e-01  6.43549379e+01]
 [ 9.05724455e-02  9.95878241e-01  4.81262834e-03 -1.05838961e+00]
 [ 1.89324205e-01 -2.19624883e-02  9.81668984e-01  1.21667017e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.464860624 meters
Centerline goodness : 0.998211 with order 1
Centerline is valid?  [True, True]
Translation: X:64.41, Y:-1.06, Z:12.18
[[ 9.77870942e-01 -8.64037331e-02 -1.90532977e-01  6.44141936e+01]
 [ 8.89460866e-02  9.96024801e-01  4.81560983e-03 -1.05873156e+00]
 [ 1.89359484e-01 -2.16562076e-02  9.81668984e-01  1.21777254e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.524860624 meters
Centerline goodness : 0.998414 with order 1
Centerline is valid?  [True, True]
Translation: X:64.47, Y:-1.06, Z:12.19
[[ 9.77900091e-01 -8.60732014e-02 -1.90532979e-01  6.44745203e+01]
 [ 8.86094029e-02  9.96054810e-01  4.81552835e-03 -1.05922541e+00]
 [ 1.89366802e-01 -2.15921191e-02  9.81668984e-01  1.21904068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.58486062399999 meters
Centerline goodness : 0.998260 with order 1
Centerline is valid?  [True, True]
Translation: X:64.54, Y:-1.06, Z:12.20
[[ 9.77806293e-01 -8.71328428e-02 -1.90532731e-01  6.45352838e+01]
 [ 8.96905981e-02  9.95957988e-01  4.82531457e-03 -1.06185986e+00]
 [ 1.89342152e-01 -2.18072176e-02  9.81668984e-01  1.22005924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.64486062399999 meters
Centerline goodness : 0.997784 with order 1
Centerline is valid?  [True, True]
Translation: X:64.59, Y:-1.06, Z:12.21
[[ 9.77673322e-01 -8.86127383e-02 -1.90532566e-01  6.45949788e+01]
 [ 9.11992170e-02  9.95820946e-01  4.83182824e-03 -1.06183830e+00]
 [ 1.89308159e-01 -2.21003704e-02  9.81668984e-01  1.22129839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.70486062399999 meters
Centerline goodness : 0.997938 with order 1
Centerline is valid?  [True, True]
Translation: X:64.65, Y:-1.06, Z:12.23
[[ 9.77511266e-01 -9.03829431e-02 -1.90532539e-01  6.46545713e+01]
 [ 9.30024826e-02  9.95654147e-01  4.83288777e-03 -1.06224880e+00]
 [ 1.89267702e-01 -2.24442014e-02  9.81668984e-01  1.22254035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.764860624 meters
Centerline goodness : 0.998735 with order 1
Centerline is valid?  [True, True]
Translation: X:64.71, Y:-1.07, Z:12.24
[[ 9.77120077e-01 -9.45183058e-02 -1.90532533e-01  6.47137778e+01]
 [ 9.72146418e-02  9.95251704e-01  4.83315554e-03 -1.06556781e+00]
 [ 1.89171006e-01 -2.32451252e-02  9.81668984e-01  1.22352141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.824860624 meters
Centerline goodness : 0.998258 with order 1
Centerline is valid?  [True, True]
Translation: X:64.77, Y:-1.07, Z:12.25
[[ 9.76999683e-01 -9.57546219e-02 -1.90532599e-01  6.47746914e+01]
 [ 9.84733972e-02  9.95127960e-01  4.83054539e-03 -1.06711660e+00]
 [ 1.89141769e-01 -2.34818336e-02  9.81668984e-01  1.22475732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.884860624 meters
Centerline goodness : 0.998186 with order 1
Centerline is valid?  [True, True]
Translation: X:64.83, Y:-1.07, Z:12.26
[[ 9.76657779e-01 -9.91818439e-02 -1.90532268e-01  6.48330104e+01]
 [ 1.01966701e-01  9.94776021e-01  4.84354699e-03 -1.06586216e+00]
 [ 1.89056540e-01 -2.41584347e-02  9.81668984e-01  1.22597188e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 65.94486062399999 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:64.89, Y:-1.07, Z:12.27
[[ 9.76576932e-01 -9.99751794e-02 -1.90532044e-01  6.48945876e+01]
 [ 1.02776445e-01  9.94692645e-01  4.85235641e-03 -1.06661228e+00]
 [ 1.89035707e-01 -2.43209054e-02  9.81668984e-01  1.22698805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.00486062399999 meters
Centerline goodness : 0.998885 with order 1
Centerline is valid?  [True, True]
Translation: X:64.95, Y:-1.07, Z:12.28
[[ 9.76853330e-01 -9.72380370e-02 -1.90531720e-01  6.49539005e+01]
 [ 9.99909622e-02  9.94976451e-01  4.86505553e-03 -1.06578824e+00]
 [ 1.89101506e-01 -2.38038957e-02  9.81668984e-01  1.22820353e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.06486062399999 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:65.01, Y:-1.06, Z:12.30
[[ 9.77148536e-01 -9.42253204e-02 -1.90531697e-01  6.50134634e+01]
 [ 9.69225179e-02  9.95280035e-01  4.86594284e-03 -1.06463076e+00]
 [ 1.89173899e-01 -2.32215607e-02  9.81668984e-01  1.22950589e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.124860624 meters
Centerline goodness : 0.998829 with order 1
Centerline is valid?  [True, True]
Translation: X:65.07, Y:-1.06, Z:12.31
[[ 9.77596860e-01 -8.94542465e-02 -1.90531671e-01  6.50728476e+01]
 [ 9.20630954e-02  9.95741281e-01  4.86694384e-03 -1.06385004e+00]
 [ 1.89284882e-01 -2.22988445e-02  9.81668984e-01  1.23089066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.184860624 meters
Centerline goodness : 0.998206 with order 1
Centerline is valid?  [True, True]
Translation: X:65.13, Y:-1.06, Z:12.32
[[ 9.77947664e-01 -8.55340495e-02 -1.90531606e-01  6.51314555e+01]
 [ 8.80706198e-02  9.96102331e-01  4.86948538e-03 -1.06457702e+00]
 [ 1.89372471e-01 -2.15423385e-02  9.81668984e-01  1.23174169e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.244860624 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:65.19, Y:-1.06, Z:12.33
[[ 9.78452860e-01 -7.95468767e-02 -1.90531611e-01  6.51910837e+01]
 [ 8.19722492e-02  9.96622717e-01  4.86930939e-03 -1.06261029e+00]
 [ 1.89500793e-01 -2.03826944e-02  9.81668984e-01  1.23298495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.30486062399999 meters
Centerline goodness : 0.998021 with order 1
Centerline is valid?  [True, True]
Translation: X:65.25, Y:-1.06, Z:12.34
[[ 9.78916398e-01 -7.36233681e-02 -1.90531585e-01  6.52509118e+01]
 [ 7.59389194e-02  9.97100577e-01  4.87032484e-03 -1.06151640e+00]
 [ 1.89620584e-01 -1.92364035e-02  9.81668984e-01  1.23423848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.36486062399999 meters
Centerline goodness : 0.998282 with order 1
Centerline is valid?  [True, True]
Translation: X:65.31, Y:-1.06, Z:12.35
[[ 9.79081121e-01 -7.13994384e-02 -1.90531570e-01  6.53095726e+01]
 [ 7.36737896e-02  9.97270498e-01  4.87091441e-03 -1.06247343e+00]
 [ 1.89663733e-01 -1.88062031e-02  9.81668984e-01  1.23527022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.42486062399999 meters
Centerline goodness : 0.997998 with order 1
Centerline is valid?  [True, True]
Translation: X:65.37, Y:-1.06, Z:12.36
[[ 9.78999859e-01 -7.25049243e-02 -1.90531655e-01  6.53698954e+01]
 [ 7.47991696e-02  9.97186738e-01  4.86757730e-03 -1.06291884e+00]
 [ 1.89642716e-01 -1.90169671e-02  9.81668984e-01  1.23623431e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.48486062399999 meters
Centerline goodness : 0.997846 with order 1
Centerline is valid?  [True, True]
Translation: X:65.43, Y:-1.06, Z:12.37
[[ 9.78844669e-01 -7.45713992e-02 -1.90531414e-01  6.54301724e+01]
 [ 7.69058440e-02  9.97026432e-01  4.87698734e-03 -1.06350826e+00]
 [ 1.89601172e-01 -1.94267923e-02  9.81668985e-01  1.23738941e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.544860624 meters
Centerline goodness : 0.997963 with order 1
Centerline is valid?  [True, True]
Translation: X:65.49, Y:-1.06, Z:12.38
[[ 9.78669830e-01 -7.68322447e-02 -1.90531285e-01  6.54897808e+01]
 [ 7.92096533e-02  9.96846025e-01  4.88203403e-03 -1.06478759e+00]
 [ 1.89555256e-01 -1.98698164e-02  9.81668985e-01  1.23818133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.604860624 meters
Centerline goodness : 0.998055 with order 1
Centerline is valid?  [True, True]
Translation: X:65.55, Y:-1.06, Z:12.40
[[ 9.78431072e-01 -7.98152061e-02 -1.90531285e-01  6.55496069e+01]
 [ 8.22480108e-02  9.96599935e-01  4.88203403e-03 -1.06447139e+00]
 [ 1.89493806e-01 -2.04475530e-02  9.81668985e-01  1.23956173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.664860624 meters
Centerline goodness : 0.998284 with order 1
Centerline is valid?  [True, True]
Translation: X:65.61, Y:-1.06, Z:12.41
[[ 9.78229266e-01 -8.22519586e-02 -1.90531147e-01  6.56075763e+01]
 [ 8.47310448e-02  9.96391872e-01  4.88741516e-03 -1.06325458e+00]
 [ 1.89441687e-01 -2.09249157e-02  9.81668985e-01  1.24075954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.72486062399999 meters
Centerline goodness : 0.998140 with order 1
Centerline is valid?  [True, True]
Translation: X:65.67, Y:-1.06, Z:12.42
[[ 9.78130887e-01 -8.34135637e-02 -1.90531216e-01  6.56675704e+01]
 [ 8.59136975e-02  9.96290608e-01  4.88471671e-03 -1.06395544e+00]
 [ 1.89417010e-01 -2.11471336e-02  9.81668985e-01  1.24202288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.78486062399999 meters
Centerline goodness : 0.998251 with order 1
Centerline is valid?  [True, True]
Translation: X:65.73, Y:-1.06, Z:12.43
[[ 9.77895826e-01 -8.61258162e-02 -1.90531091e-01  6.57261903e+01]
 [ 8.86772380e-02  9.96048412e-01  4.88958741e-03 -1.06453867e+00]
 [ 1.89357071e-01 -2.16772780e-02  9.81668985e-01  1.24317013e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.84486062399999 meters
Centerline goodness : 0.998233 with order 1
Centerline is valid?  [True, True]
Translation: X:65.79, Y:-1.06, Z:12.44
[[ 9.77657884e-01 -8.87868695e-02 -1.90530716e-01  6.57872369e+01]
 [ 9.13904866e-02  9.95803057e-01  4.90416320e-03 -1.06444150e+00]
 [ 1.89295644e-01 -2.22072887e-02  9.81668985e-01  1.24446736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.904860624 meters
Centerline goodness : 0.998138 with order 1
Centerline is valid?  [True, True]
Translation: X:65.85, Y:-1.07, Z:12.46
[[ 9.77508052e-01 -9.04222388e-02 -1.90530384e-01  6.58467771e+01]
 [ 9.30586773e-02  9.95648485e-01  4.91701823e-03 -1.06523999e+00]
 [ 1.89256681e-01 -2.25369305e-02  9.81668985e-01  1.24561451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 66.964860624 meters
Centerline goodness : 0.998258 with order 1
Centerline is valid?  [True, True]
Translation: X:65.91, Y:-1.07, Z:12.47
[[ 9.77254262e-01 -9.31254716e-02 -1.90530193e-01  6.59051657e+01]
 [ 9.58134928e-02  9.95387123e-01  4.92441098e-03 -1.06704879e+00]
 [ 1.89192713e-01 -2.30677649e-02  9.81668985e-01  1.24658549e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.024860624 meters
Centerline goodness : 0.997900 with order 1
Centerline is valid?  [True, True]
Translation: X:65.96, Y:-1.07, Z:12.48
[[ 9.77088207e-01 -9.48520916e-02 -1.90530092e-01  6.59646965e+01]
 [ 9.75728986e-02  9.95216178e-01  4.92831600e-03 -1.06810704e+00]
 [ 1.89151169e-01 -2.34059728e-02  9.81668985e-01  1.24764014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.08486062399999 meters
Centerline goodness : 0.998082 with order 1
Centerline is valid?  [True, True]
Translation: X:66.03, Y:-1.07, Z:12.49
[[ 9.77054163e-01 -9.52021481e-02 -1.90530085e-01  6.60261582e+01]
 [ 9.79295018e-02  9.95181150e-01  4.92858767e-03 -1.06833985e+00]
 [ 1.89142737e-01 -2.34740134e-02  9.81668985e-01  1.24893569e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.14486062399999 meters
Centerline goodness : 0.998033 with order 1
Centerline is valid?  [True, True]
Translation: X:66.09, Y:-1.07, Z:12.50
[[ 9.77108449e-01 -9.46442021e-02 -1.90529669e-01  6.60870749e+01]
 [ 9.73642845e-02  9.95236528e-01  4.94462596e-03 -1.06926546e+00]
 [ 1.89154106e-01 -2.33822207e-02  9.81668985e-01  1.25024075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.20486062399999 meters
Centerline goodness : 0.998027 with order 1
Centerline is valid?  [True, True]
Translation: X:66.15, Y:-1.07, Z:12.51
[[ 9.77207852e-01 -9.36129722e-02 -1.90529330e-01  6.61470947e+01]
 [ 9.63164235e-02  9.95338419e-01  4.95764934e-03 -1.06967284e+00]
 [ 1.89177062e-01 -2.31957575e-02  9.81668985e-01  1.25146487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.264860624 meters
Centerline goodness : 0.997855 with order 1
Centerline is valid?  [True, True]
Translation: X:66.21, Y:-1.07, Z:12.53
[[ 9.77072663e-01 -9.50139513e-02 -1.90529161e-01  6.62066145e+01]
 [ 9.77446419e-02  9.95199147e-01  4.96414433e-03 -1.07118848e+00]
 [ 1.89142795e-01 -2.34735343e-02  9.81668985e-01  1.25267289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.324860624 meters
Centerline goodness : 0.998005 with order 1
Centerline is valid?  [True, True]
Translation: X:66.27, Y:-1.07, Z:12.54
[[ 9.76968471e-01 -9.60795384e-02 -1.90529077e-01  6.62674952e+01]
 [ 9.88306115e-02  9.95091873e-01  4.96734447e-03 -1.07450805e+00]
 [ 1.89116676e-01 -2.36830442e-02  9.81668985e-01  1.25367773e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.384860624 meters
Centerline goodness : 0.998103 with order 1
Centerline is valid?  [True, True]
Translation: X:66.33, Y:-1.08, Z:12.55
[[ 9.76976720e-01 -9.59968270e-02 -1.90528469e-01  6.63287048e+01]
 [ 9.87508243e-02  9.95099678e-01  4.99056581e-03 -1.07639915e+00]
 [ 1.89115740e-01 -2.36905100e-02  9.81668985e-01  1.25474226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.44486062399999 meters
Centerline goodness : 0.997936 with order 1
Centerline is valid?  [True, True]
Translation: X:66.39, Y:-1.08, Z:12.56
[[ 9.76961048e-01 -9.61587331e-02 -1.90527184e-01  6.63894358e+01]
 [ 9.89250655e-02  9.95082126e-01  5.03917149e-03 -1.07912374e+00]
 [ 1.89105635e-01 -2.37709884e-02  9.81668986e-01  1.25614250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.50486062399999 meters
Centerline goodness : 0.998509 with order 1
Centerline is valid?  [True, True]
Translation: X:66.45, Y:-1.08, Z:12.57
[[ 9.76962873e-01 -9.61408863e-02 -1.90526837e-01  6.64492560e+01]
 [ 9.89093976e-02  9.95083618e-01  5.05224476e-03 -1.08249161e+00]
 [ 1.89104407e-01 -2.37807503e-02  9.81668987e-01  1.25719100e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.56486062399999 meters
Centerline goodness : 0.997787 with order 1
Centerline is valid?  [True, True]
Translation: X:66.51, Y:-1.09, Z:12.58
[[ 9.76971795e-01 -9.60505667e-02 -1.90526640e-01  6.65099202e+01]
 [ 9.88188268e-02  9.95092578e-01  5.05966267e-03 -1.08574825e+00]
 [ 1.89105662e-01 -2.37707668e-02  9.81668987e-01  1.25838495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.624860624 meters
Centerline goodness : 0.997461 with order 1
Centerline is valid?  [True, True]
Translation: X:66.57, Y:-1.09, Z:12.60
[[ 9.77130757e-01 -9.44202284e-02 -1.90526387e-01  6.65707467e+01]
 [ 9.71600792e-02  9.95255858e-01  5.06919989e-03 -1.08861227e+00]
 [ 1.89143867e-01 -2.34648299e-02  9.81668987e-01  1.25977819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.684860624 meters
Centerline goodness : 0.997908 with order 1
Centerline is valid?  [True, True]
Translation: X:66.63, Y:-1.09, Z:12.61
[[ 9.77350949e-01 -9.21137875e-02 -1.90526041e-01  6.66308224e+01]
 [ 9.48133437e-02  9.95482095e-01  5.08216788e-03 -1.09044569e+00]
 [ 1.89197124e-01 -2.30314726e-02  9.81668987e-01  1.26077596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.744860624 meters
Centerline goodness : 0.998093 with order 1
Centerline is valid?  [True, True]
Translation: X:66.69, Y:-1.09, Z:12.62
[[ 9.77421988e-01 -9.13570194e-02 -1.90525987e-01  6.66922342e+01]
 [ 9.40429255e-02  9.95555161e-01  5.08419353e-03 -1.09213962e+00]
 [ 1.89214653e-01 -2.28870237e-02  9.81668987e-01  1.26187458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.80486062399999 meters
Centerline goodness : 0.998115 with order 1
Centerline is valid?  [True, True]
Translation: X:66.75, Y:-1.09, Z:12.63
[[ 9.77707298e-01 -8.82520062e-02 -1.90525646e-01  6.67517877e+01]
 [ 9.08827467e-02  9.95848557e-01  5.09690814e-03 -1.09279370e+00]
 [ 1.89284878e-01 -2.22987784e-02  9.81668987e-01  1.26305488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.86486062399999 meters
Centerline goodness : 0.997899 with order 1
Centerline is valid?  [True, True]
Translation: X:66.81, Y:-1.09, Z:12.64
[[ 9.77873000e-01 -8.63967376e-02 -1.90525588e-01  6.68117338e+01]
 [ 8.89934726e-02  9.96019157e-01  5.09909632e-03 -1.09446642e+00]
 [ 1.89326590e-01 -2.19418023e-02  9.81668987e-01  1.26427996e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.92486062399999 meters
Centerline goodness : 0.998177 with order 1
Centerline is valid?  [True, True]
Translation: X:66.87, Y:-1.10, Z:12.66
[[ 9.78070804e-01 -8.41280883e-02 -1.90525502e-01  6.68716114e+01]
 [ 8.66833377e-02  9.96222849e-01  5.10229814e-03 -1.09531758e+00]
 [ 1.89376612e-01 -2.15057953e-02  9.81668987e-01  1.26553705e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 67.98486062399999 meters
Centerline goodness : 0.997888 with order 1
Centerline is valid?  [True, True]
Translation: X:66.93, Y:-1.10, Z:12.67
[[ 9.78296373e-01 -8.14635242e-02 -1.90525329e-01  6.69311541e+01]
 [ 8.39705588e-02  9.96455140e-01  5.10874674e-03 -1.09549948e+00]
 [ 1.89433767e-01 -2.09963868e-02  9.81668987e-01  1.26679649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.044860624 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:66.99, Y:-1.10, Z:12.68
[[ 9.78414266e-01 -8.00353296e-02 -1.90525249e-01  6.69903613e+01]
 [ 8.25164299e-02  9.96576595e-01  5.11174242e-03 -1.09748374e+00]
 [ 1.89463884e-01 -2.07228651e-02  9.81668987e-01  1.26792497e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.104860624 meters
Centerline goodness : 0.997908 with order 1
Centerline is valid?  [True, True]
Translation: X:67.05, Y:-1.10, Z:12.69
[[ 9.78398410e-01 -8.02291302e-02 -1.90525164e-01  6.70506466e+01]
 [ 8.27144349e-02  9.96560164e-01  5.11489584e-03 -1.09819292e+00]
 [ 1.89459425e-01 -2.07635872e-02  9.81668987e-01  1.26916559e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.164860624 meters
Centerline goodness : 0.997960 with order 1
Centerline is valid?  [True, True]
Translation: X:67.11, Y:-1.10, Z:12.70
[[ 9.78233776e-01 -8.22125647e-02 -1.90524997e-01  6.71110784e+01]
 [ 8.47358811e-02  9.96390287e-01  5.12111256e-03 -1.09946719e+00]
 [ 1.89416237e-01 -2.11539488e-02  9.81668987e-01  1.27019181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.22486062399999 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:67.17, Y:-1.10, Z:12.71
[[ 9.77780968e-01 -8.74336906e-02 -1.90524875e-01  6.71707390e+01]
 [ 9.00547724e-02  9.95923624e-01  5.12565378e-03 -1.10274227e+00]
 [ 1.89300069e-01 -2.21694410e-02  9.81668987e-01  1.27116362e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.28486062399999 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:67.23, Y:-1.10, Z:12.72
[[ 9.77406507e-01 -9.15248692e-02 -1.90524850e-01  6.72303436e+01]
 [ 9.42220333e-02  9.95538009e-01  5.12658796e-03 -1.10483802e+00]
 [ 1.89205519e-01 -2.29623992e-02  9.81668987e-01  1.27238599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.34486062399999 meters
Centerline goodness : 0.998035 with order 1
Centerline is valid?  [True, True]
Translation: X:67.29, Y:-1.11, Z:12.74
[[ 9.77058157e-01 -9.51716655e-02 -1.90524832e-01  6.72894072e+01]
 [ 9.79365986e-02  9.95179448e-01  5.12724235e-03 -1.10581551e+00]
 [ 1.89118429e-01 -2.36689680e-02  9.81668987e-01  1.27355903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.404860624 meters
Centerline goodness : 0.998282 with order 1
Centerline is valid?  [True, True]
Translation: X:67.35, Y:-1.11, Z:12.75
[[ 9.76640089e-01 -9.93702263e-02 -1.90524787e-01  6.73489501e+01]
 [ 1.02213342e-01  9.94749278e-01  5.12892191e-03 -1.10889408e+00]
 [ 1.89014732e-01 -2.44832860e-02  9.81668987e-01  1.27486076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.464860624 meters
Centerline goodness : 0.998371 with order 1
Centerline is valid?  [True, True]
Translation: X:67.41, Y:-1.11, Z:12.76
[[ 9.76440673e-01 -1.01311028e-01 -1.90524769e-01  6.74086784e+01]
 [ 1.04190255e-01  9.94544156e-01  5.12957654e-03 -1.10974500e+00]
 [ 1.88965613e-01 -2.48595515e-02  9.81668987e-01  1.27597186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.524860624 meters
Centerline goodness : 0.998060 with order 1
Centerline is valid?  [True, True]
Translation: X:67.47, Y:-1.11, Z:12.77
[[ 9.76613452e-01 -9.96318217e-02 -1.90524709e-01  6.74686692e+01]
 [ 1.02480347e-01  9.94721792e-01  5.13183500e-03 -1.10787570e+00]
 [ 1.89007785e-01 -2.45368573e-02  9.81668987e-01  1.27707816e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.58486062399999 meters
Centerline goodness : 0.998197 with order 1
Centerline is valid?  [True, True]
Translation: X:67.53, Y:-1.11, Z:12.78
[[ 9.77109548e-01 -9.46429209e-02 -1.90524668e-01  6.75279683e+01]
 [ 9.73992175e-02  9.95232154e-01  5.13333650e-03 -1.10659249e+00]
 [ 1.89130442e-01 -2.35727857e-02  9.81668987e-01  1.27833750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.64486062399999 meters
Centerline goodness : 0.997537 with order 1
Centerline is valid?  [True, True]
Translation: X:67.59, Y:-1.11, Z:12.79
[[ 9.77548295e-01 -8.99982964e-02 -1.90524640e-01  6.75874738e+01]
 [ 9.26686352e-02  9.95683766e-01  5.13436798e-03 -1.10535153e+00]
 [ 1.89240207e-01 -2.26747511e-02  9.81668987e-01  1.27942983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.70486062399999 meters
Centerline goodness : 0.997639 with order 1
Centerline is valid?  [True, True]
Translation: X:67.65, Y:-1.10, Z:12.80
[[ 9.78303033e-01 -8.13852325e-02 -1.90524590e-01  6.76464766e+01]
 [ 8.38961001e-02  9.96461270e-01  5.13622438e-03 -1.10266867e+00]
 [ 1.89432362e-01 -2.10090540e-02  9.81668987e-01  1.28042905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.764860624 meters
Centerline goodness : 0.997822 with order 1
Centerline is valid?  [True, True]
Translation: X:67.71, Y:-1.10, Z:12.82
[[ 9.78773201e-01 -7.55206962e-02 -1.90524656e-01  6.77063074e+01]
 [ 7.79222222e-02  9.96946223e-01  5.13377138e-03 -1.10195791e+00]
 [ 1.89555131e-01 -1.98709025e-02  9.81668987e-01  1.28160787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.824860624 meters
Centerline goodness : 0.997518 with order 1
Centerline is valid?  [True, True]
Translation: X:67.77, Y:-1.10, Z:12.83
[[ 9.79203857e-01 -6.97150389e-02 -1.90524593e-01  6.77658680e+01]
 [ 7.20092046e-02  9.97390743e-01  5.13611573e-03 -1.10019462e+00]
 [ 1.89669401e-01 -1.87488287e-02  9.81668987e-01  1.28275681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.884860624 meters
Centerline goodness : 0.997536 with order 1
Centerline is valid?  [True, True]
Translation: X:67.83, Y:-1.10, Z:12.84
[[ 9.79333626e-01 -6.78678343e-02 -1.90524557e-01  6.78260593e+01]
 [ 7.01279474e-02  9.97524775e-01  5.13745177e-03 -1.10050710e+00]
 [ 1.89704298e-01 -1.83923754e-02  9.81668987e-01  1.28391413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 68.94486062399999 meters
Centerline goodness : 0.997360 with order 1
Centerline is valid?  [True, True]
Translation: X:67.89, Y:-1.10, Z:12.85
[[ 9.79245742e-01 -6.91247773e-02 -1.90524387e-01  6.78864488e+01]
 [ 7.14094516e-02  9.97433823e-01  5.14375328e-03 -1.10049478e+00]
 [ 1.89679907e-01 -1.86422405e-02  9.81668987e-01  1.28493284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.00486062399999 meters
Centerline goodness : 0.997042 with order 1
Centerline is valid?  [True, True]
Translation: X:67.95, Y:-1.10, Z:12.86
[[ 9.79129539e-01 -7.07521555e-02 -1.90524219e-01  6.79475403e+01]
 [ 7.30682517e-02  9.97313646e-01  5.14996664e-03 -1.10148868e+00]
 [ 1.89648032e-01 -1.89637560e-02  9.81668987e-01  1.28590459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.06486062399999 meters
Centerline goodness : 0.996847 with order 1
Centerline is valid?  [True, True]
Translation: X:68.01, Y:-1.10, Z:12.87
[[ 9.78756467e-01 -7.57392220e-02 -1.90523878e-01  6.80070220e+01]
 [ 7.81503480e-02  9.96928218e-01  5.16255991e-03 -1.10223985e+00]
 [ 1.89547622e-01 -1.99423963e-02  9.81668987e-01  1.28696051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.124860624 meters
Centerline goodness : 0.996942 with order 1
Centerline is valid?  [True, True]
Translation: X:68.07, Y:-1.10, Z:12.88
[[ 9.78545620e-01 -7.84164099e-02 -1.90523847e-01  6.80668717e+01]
 [ 8.08774544e-02  9.96710677e-01  5.16368843e-03 -1.10384769e+00]
 [ 1.89492235e-01 -2.04619885e-02  9.81668987e-01  1.28807218e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.184860624 meters
Centerline goodness : 0.996239 with order 1
Centerline is valid?  [True, True]
Translation: X:68.13, Y:-1.10, Z:12.89
[[ 9.78482517e-01 -7.91999530e-02 -1.90523834e-01  6.81285358e+01]
 [ 8.16756400e-02  9.96645584e-01  5.16419577e-03 -1.10287005e+00]
 [ 1.89475733e-01 -2.06142313e-02  9.81668987e-01  1.28929384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.244860624 meters
Centerline goodness : 0.996574 with order 1
Centerline is valid?  [True, True]
Translation: X:68.19, Y:-1.10, Z:12.90
[[ 9.78674067e-01 -7.67977991e-02 -1.90523410e-01  6.81867117e+01]
 [ 7.92318953e-02  9.96842754e-01  5.17979142e-03 -1.10295125e+00]
 [ 1.89524084e-01 -2.01648584e-02  9.81668987e-01  1.29049656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.30486062399999 meters
Centerline goodness : 0.996477 with order 1
Centerline is valid?  [True, True]
Translation: X:68.25, Y:-1.10, Z:12.92
[[ 9.78871736e-01 -7.42355958e-02 -1.90523493e-01  6.82462391e+01]
 [ 7.66215272e-02  9.97046811e-01  5.17670134e-03 -1.10330141e+00]
 [ 1.89576546e-01 -1.96655277e-02  9.81668987e-01  1.29158272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.36486062399999 meters
Centerline goodness : 0.996311 with order 1
Centerline is valid?  [True, True]
Translation: X:68.31, Y:-1.10, Z:12.93
[[ 9.79180943e-01 -7.00391272e-02 -1.90523493e-01  6.83051601e+01]
 [ 7.23471319e-02  9.97366078e-01  5.17670134e-03 -1.10284599e+00]
 [ 1.89659098e-01 -1.88527556e-02  9.81668987e-01  1.29279628e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.42486062399999 meters
Centerline goodness : 0.996560 with order 1
Centerline is valid?  [True, True]
Translation: X:68.36, Y:-1.10, Z:12.94
[[ 9.79677964e-01 -6.27047418e-02 -1.90523493e-01  6.83641718e+01]
 [ 6.48765100e-02  9.97879873e-01  5.17672403e-03 -1.10106935e+00]
 [ 1.89794954e-01 -1.74320218e-02  9.81668987e-01  1.29373921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.48486062399999 meters
Centerline goodness : 0.996875 with order 1
Centerline is valid?  [True, True]
Translation: X:68.42, Y:-1.10, Z:12.95
[[ 9.80173421e-01 -5.44134905e-02 -1.90523587e-01  6.84243938e+01]
 [ 5.64305098e-02  9.98393126e-01  5.17327562e-03 -1.09973775e+00]
 [ 1.89935943e-01 -1.58220504e-02  9.81668987e-01  1.29468942e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.544860624 meters
Centerline goodness : 0.996912 with order 1
Centerline is valid?  [True, True]
Translation: X:68.48, Y:-1.10, Z:12.96
[[ 9.80419649e-01 -4.97805501e-02 -1.90523511e-01  6.84843629e+01]
 [ 5.17119799e-02  9.98648627e-01  5.17607112e-03 -1.09746859e+00]
 [ 1.90008374e-01 -1.49270698e-02  9.81668987e-01  1.29574281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.604860624 meters
Centerline goodness : 0.997257 with order 1
Centerline is valid?  [True, True]
Translation: X:68.54, Y:-1.10, Z:12.97
[[ 9.80631719e-01 -4.54118256e-02 -1.90523486e-01  6.85437563e+01]
 [ 4.72621941e-02  9.98869102e-01  5.17698447e-03 -1.09586501e+00]
 [ 1.90072927e-01 -1.40812731e-02  9.81668987e-01  1.29691711e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.66486062399999 meters
Centerline goodness : 0.997170 with order 1
Centerline is valid?  [True, True]
Translation: X:68.60, Y:-1.10, Z:12.98
[[ 9.80759602e-01 -4.25597370e-02 -1.90523676e-01  6.86026191e+01]
 [ 4.43557034e-02  9.99002424e-01  5.16996959e-03 -1.09502903e+00]
 [ 1.90113582e-01 -1.35213090e-02  9.81668987e-01  1.29801918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.72486062399999 meters
Centerline goodness : 0.997392 with order 1
Centerline is valid?  [True, True]
Translation: X:68.66, Y:-1.09, Z:12.99
[[ 9.80777145e-01 -4.21530940e-02 -1.90523774e-01  6.86602215e+01]
 [ 4.39407995e-02  9.99020778e-01  5.16636354e-03 -1.09419267e+00]
 [ 1.90119431e-01 -1.34388182e-02  9.81668987e-01  1.29909489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.78486062399999 meters
Centerline goodness : 0.997482 with order 1
Centerline is valid?  [True, True]
Translation: X:68.72, Y:-1.09, Z:13.00
[[ 9.80690848e-01 -4.41101602e-02 -1.90524947e-01  6.87191279e+01]
 [ 4.59258397e-02  9.98931717e-01  5.12275495e-03 -1.09146406e+00]
 [ 1.90095446e-01 -1.37738571e-02  9.81668988e-01  1.30007434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.84486062399999 meters
Centerline goodness : 0.997354 with order 1
Centerline is valid?  [True, True]
Translation: X:68.78, Y:-1.09, Z:13.01
[[ 9.80590675e-01 -4.62831317e-02 -1.90525064e-01  6.87784486e+01]
 [ 4.81383812e-02  9.98827562e-01  5.11838226e-03 -1.09138893e+00]
 [ 1.90064790e-01 -1.41906061e-02  9.81668988e-01  1.30108388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.904860624 meters
Centerline goodness : 0.997554 with order 1
Centerline is valid?  [True, True]
Translation: X:68.84, Y:-1.09, Z:13.02
[[ 9.80387602e-01 -5.04018505e-02 -1.90525075e-01  6.88375921e+01]
 [ 5.23336146e-02  9.98616543e-01  5.11798903e-03 -1.09148683e+00]
 [ 1.90003535e-01 -1.49884788e-02  9.81668988e-01  1.30208211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 69.964860624 meters
Centerline goodness : 0.997602 with order 1
Centerline is valid?  [True, True]
Translation: X:68.90, Y:-1.09, Z:13.03
[[ 9.80210005e-01 -5.37448615e-02 -1.90525158e-01  6.88954862e+01]
 [ 5.57381796e-02  9.98432318e-01  5.11488733e-03 -1.09106805e+00]
 [ 1.89951576e-01 -1.56331892e-02  9.81668988e-01  1.30318761e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.024860624 meters
Centerline goodness : 0.997404 with order 1
Centerline is valid?  [True, True]
Translation: X:68.95, Y:-1.09, Z:13.04
[[ 9.79918456e-01 -5.88218690e-02 -1.90525085e-01  6.89544474e+01]
 [ 6.09100777e-02  9.98130138e-01  5.11758874e-03 -1.09183806e+00]
 [ 1.89867804e-01 -1.66197174e-02  9.81668988e-01  1.30440503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.08486062399999 meters
Centerline goodness : 0.997664 with order 1
Centerline is valid?  [True, True]
Translation: X:69.01, Y:-1.09, Z:13.05
[[ 9.79657418e-01 -6.30201094e-02 -1.90525090e-01  6.90140960e+01]
 [ 6.51863018e-02  9.97859989e-01  5.11742768e-03 -1.09429101e+00]
 [ 1.89794863e-01 -1.74329520e-02  9.81668988e-01  1.30547309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.14486062399999 meters
Centerline goodness : 0.997257 with order 1
Centerline is valid?  [True, True]
Translation: X:69.07, Y:-1.10, Z:13.07
[[ 9.79237118e-01 -6.92449435e-02 -1.90525076e-01  6.90733711e+01]
 [ 7.15268753e-02  9.97425542e-01  5.11793996e-03 -1.09512639e+00]
 [ 1.89680186e-01 -1.86393401e-02  9.81668988e-01  1.30664780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.20486062399999 meters
Centerline goodness : 0.997568 with order 1
Centerline is valid?  [True, True]
Translation: X:69.13, Y:-1.10, Z:13.08
[[ 9.78978079e-01 -7.28157214e-02 -1.90525040e-01  6.91326275e+01]
 [ 7.51642251e-02  9.97158028e-01  5.11926173e-03 -1.09657920e+00]
 [ 1.89610811e-01 -1.93323120e-02  9.81668988e-01  1.30779342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.264860624 meters
Centerline goodness : 0.998087 with order 1
Centerline is valid?  [True, True]
Translation: X:69.19, Y:-1.10, Z:13.09
[[ 9.78561459e-01 -7.82156540e-02 -1.90525017e-01  6.91924098e+01]
 [ 8.06645916e-02  9.96728151e-01  5.12014785e-03 -1.10019165e+00]
 [ 1.89501172e-01 -2.03790020e-02  9.81668988e-01  1.30868638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.324860624 meters
Centerline goodness : 0.998119 with order 1
Centerline is valid?  [True, True]
Translation: X:69.25, Y:-1.10, Z:13.10
[[ 9.78353744e-01 -8.07723754e-02 -1.90524999e-01  6.92522902e+01]
 [ 8.32688988e-02  9.96513958e-01  5.12079461e-03 -1.10211391e+00]
 [ 1.89447202e-01 -2.08747555e-02  9.81668988e-01  1.30978090e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.384860624 meters
Centerline goodness : 0.997967 with order 1
Centerline is valid?  [True, True]
Translation: X:69.31, Y:-1.10, Z:13.11
[[ 9.78220203e-01 -8.23740205e-02 -1.90524947e-01  6.93119078e+01]
 [ 8.49006468e-02  9.96376253e-01  5.12274142e-03 -1.10372200e+00]
 [ 1.89412552e-01 -2.11868604e-02  9.81668988e-01  1.31099574e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.44486062399999 meters
Centerline goodness : 0.997612 with order 1
Centerline is valid?  [True, True]
Translation: X:69.37, Y:-1.11, Z:13.12
[[ 9.78169434e-01 -8.29751173e-02 -1.90524773e-01  6.93724983e+01]
 [ 8.55141447e-02  9.96323754e-01  5.12921318e-03 -1.10647929e+00]
 [ 1.89398760e-01 -2.13098025e-02  9.81668988e-01  1.31236841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.50486062399999 meters
Centerline goodness : 0.998299 with order 1
Centerline is valid?  [True, True]
Translation: X:69.43, Y:-1.11, Z:13.14
[[ 9.78151149e-01 -8.31911917e-02 -1.90524421e-01  6.94321807e+01]
 [ 8.57367350e-02  9.96304557e-01  5.14224115e-03 -1.10927094e+00]
 [ 1.89392560e-01 -2.13648309e-02  9.81668988e-01  1.31356925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.56486062399999 meters
Centerline goodness : 0.998280 with order 1
Centerline is valid?  [True, True]
Translation: X:69.49, Y:-1.11, Z:13.15
[[ 9.78080124e-01 -8.40227065e-02 -1.90524159e-01  6.94918124e+01]
 [ 8.65855431e-02  9.96231098e-01  5.15192208e-03 -1.11186113e+00]
 [ 1.89373214e-01 -2.15356304e-02  9.81668988e-01  1.31478630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.624860624 meters
Centerline goodness : 0.998011 with order 1
Centerline is valid?  [True, True]
Translation: X:69.55, Y:-1.12, Z:13.16
[[ 9.77855942e-01 -8.65927851e-02 -1.90524137e-01  6.95508569e+01]
 [ 8.92034687e-02  9.96000096e-01  5.15273123e-03 -1.11762128e+00]
 [ 1.89315870e-01 -2.20340428e-02  9.81668988e-01  1.31568418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.684860624 meters
Centerline goodness : 0.998349 with order 1
Centerline is valid?  [True, True]
Translation: X:69.61, Y:-1.12, Z:13.17
[[ 9.77535255e-01 -9.01408789e-02 -1.90524137e-01  6.96105321e+01]
 [ 9.28173910e-02  9.95669815e-01  5.15273123e-03 -1.12259977e+00]
 [ 1.89234661e-01 -2.27209298e-02  9.81668988e-01  1.31685678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.744860624 meters
Centerline goodness : 0.998236 with order 1
Centerline is valid?  [True, True]
Translation: X:69.67, Y:-1.13, Z:13.18
[[ 9.77405073e-01 -9.15416949e-02 -1.90524124e-01  6.96714078e+01]
 [ 9.42442899e-02  9.95535764e-01  5.15323629e-03 -1.12729963e+00]
 [ 1.89201843e-01 -2.29926100e-02  9.81668988e-01  1.31803708e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.80486062399999 meters
Centerline goodness : 0.998443 with order 1
Centerline is valid?  [True, True]
Translation: X:69.73, Y:-1.13, Z:13.19
[[ 9.77214088e-01 -9.35591670e-02 -1.90523773e-01  6.97311692e+01]
 [ 9.63016652e-02  9.95338787e-01  5.16615971e-03 -1.13446970e+00]
 [ 1.89152360e-01 -2.33962007e-02  9.81668988e-01  1.31934440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.86486062399999 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:69.79, Y:-1.14, Z:13.21
[[ 9.77019578e-01 -9.55693638e-02 -1.90523598e-01  6.97904369e+01]
 [ 9.83503838e-02  9.95138405e-01  5.17262021e-03 -1.13892110e+00]
 [ 1.89103005e-01 -2.37918202e-02  9.81668988e-01  1.32061782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.92486062399999 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:69.85, Y:-1.14, Z:13.22
[[ 9.76902422e-01 -9.67596130e-02 -1.90523582e-01  6.98501146e+01]
 [ 9.95628198e-02  9.95017830e-01  5.17321583e-03 -1.14479181e+00]
 [ 1.89073803e-01 -2.40227921e-02  9.81668988e-01  1.32180797e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 70.98486062399999 meters
Centerline goodness : 0.998178 with order 1
Centerline is valid?  [True, True]
Translation: X:69.91, Y:-1.15, Z:13.23
[[ 9.76851237e-01 -9.72750441e-02 -1.90523559e-01  6.99110136e+01]
 [ 1.00087969e-01  9.94965139e-01  5.17405083e-03 -1.15250541e+00]
 [ 1.89060993e-01 -2.41233940e-02  9.81668988e-01  1.32302232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.044860624 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:69.97, Y:-1.16, Z:13.24
[[ 9.76882321e-01 -9.69630914e-02 -1.90523201e-01  6.99714460e+01]
 [ 9.97727579e-02  9.94996728e-01  5.18721372e-03 -1.15823275e+00]
 [ 1.89066993e-01 -2.40763226e-02  9.81668988e-01  1.32427910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.104860624 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:70.03, Y:-1.17, Z:13.25
[[ 9.76874223e-01 -9.70453362e-02 -1.90522844e-01  7.00319745e+01]
 [ 9.98590336e-02  9.94988005e-01  5.20027125e-03 -1.16687038e+00]
 [ 1.89063283e-01 -2.41054381e-02  9.81668988e-01  1.32548170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.16486062399999 meters
Centerline goodness : 0.998235 with order 1
Centerline is valid?  [True, True]
Translation: X:70.09, Y:-1.18, Z:13.27
[[ 9.76781114e-01 -9.79787444e-02 -1.90522493e-01  7.00934400e+01]
 [ 1.00812213e-01  9.94891814e-01  5.21311420e-03 -1.17594429e+00]
 [ 1.89038494e-01 -2.42990657e-02  9.81668989e-01  1.32658729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.22486062399999 meters
Centerline goodness : 0.998389 with order 1
Centerline is valid?  [True, True]
Translation: X:70.15, Y:-1.18, Z:13.28
[[ 9.76723334e-01 -9.85543358e-02 -1.90521840e-01  7.01526674e+01]
 [ 1.01403033e-01  9.94831644e-01  5.23686241e-03 -1.18255649e+00]
 [ 1.89021040e-01 -2.44344582e-02  9.81668989e-01  1.32787069e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.28486062399999 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:70.21, Y:-1.19, Z:13.29
[[ 9.76712180e-01 -9.86649668e-02 -1.90521762e-01  7.02125430e+01]
 [ 1.01516257e-01  9.94820082e-01  5.23968865e-03 -1.19077578e+00]
 [ 1.89017902e-01 -2.44587240e-02  9.81668989e-01  1.32894538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.34486062399999 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:70.27, Y:-1.20, Z:13.30
[[ 9.76807041e-01 -9.77218767e-02 -1.90521494e-01  7.02746003e+01]
 [ 1.00557551e-01  9.94917395e-01  5.24942750e-03 -1.19671544e+00]
 [ 1.89040165e-01 -2.42860526e-02  9.81668989e-01  1.33019192e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.404860624 meters
Centerline goodness : 0.998238 with order 1
Centerline is valid?  [True, True]
Translation: X:70.33, Y:-1.20, Z:13.31
[[ 9.76971381e-01 -9.60660636e-02 -1.90520951e-01  7.03326357e+01]
 [ 9.88748078e-02  9.95085931e-01  5.26907524e-03 -1.20460923e+00]
 [ 1.89078538e-01 -2.39854581e-02  9.81668989e-01  1.33137031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.464860624 meters
Centerline goodness : 0.998482 with order 1
Centerline is valid?  [True, True]
Translation: X:70.39, Y:-1.21, Z:13.33
[[ 9.77093728e-01 -9.48133838e-02 -1.90521046e-01  7.03919760e+01]
 [ 9.75982370e-02  9.95211966e-01  5.26561868e-03 -1.21056335e+00]
 [ 1.89109574e-01 -2.37395212e-02  9.81668989e-01  1.33258058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.524860624 meters
Centerline goodness : 0.997806 with order 1
Centerline is valid?  [True, True]
Translation: X:70.45, Y:-1.22, Z:13.34
[[ 9.77228934e-01 -9.34097102e-02 -1.90520960e-01  7.04533743e+01]
 [ 9.61691354e-02  9.95351063e-01  5.26875058e-03 -1.21660433e+00]
 [ 1.89143087e-01 -2.34710115e-02  9.81668989e-01  1.33378752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.58486062399999 meters
Centerline goodness : 0.998290 with order 1
Centerline is valid?  [True, True]
Translation: X:70.51, Y:-1.22, Z:13.35
[[ 9.77247137e-01 -9.32199551e-02 -1.90520532e-01  7.05129334e+01]
 [ 9.59788236e-02  9.95369350e-01  5.28417825e-03 -1.22064064e+00]
 [ 1.89145707e-01 -2.34498846e-02  9.81668989e-01  1.33508195e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.64486062399999 meters
Centerline goodness : 0.998237 with order 1
Centerline is valid?  [True, True]
Translation: X:70.57, Y:-1.23, Z:13.36
[[ 9.77184210e-01 -9.38776609e-02 -1.90520351e-01  7.05738758e+01]
 [ 9.66499759e-02  9.95304371e-01  5.29069028e-03 -1.22956261e+00]
 [ 1.89129060e-01 -2.35837663e-02  9.81668989e-01  1.33620550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.70486062399999 meters
Centerline goodness : 0.998537 with order 1
Centerline is valid?  [True, True]
Translation: X:70.63, Y:-1.23, Z:13.37
[[ 9.77208280e-01 -9.36275315e-02 -1.90519982e-01  7.06324117e+01]
 [ 9.63977544e-02  9.95328760e-01  5.30395211e-03 -1.23369407e+00]
 [ 1.89133421e-01 -2.35487643e-02  9.81668989e-01  1.33732675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.764860624 meters
Centerline goodness : 0.998091 with order 1
Centerline is valid?  [True, True]
Translation: X:70.69, Y:-1.24, Z:13.38
[[ 9.77307256e-01 -9.25895619e-02 -1.90519553e-01  7.06921135e+01]
 [ 9.53434867e-02  9.95430221e-01  5.31931432e-03 -1.23786685e+00]
 [ 1.89156408e-01 -2.33634030e-02  9.81668989e-01  1.33842228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.824860624 meters
Centerline goodness : 0.997472 with order 1
Centerline is valid?  [True, True]
Translation: X:70.75, Y:-1.24, Z:13.40
[[ 9.77506740e-01 -9.04592552e-02 -1.90519544e-01  7.07514047e+01]
 [ 9.31737345e-02  9.95635655e-01  5.31963079e-03 -1.24295280e+00]
 [ 1.89206841e-01 -2.29513924e-02  9.81668989e-01  1.33980812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.884860624 meters
Centerline goodness : 0.997140 with order 1
Centerline is valid?  [True, True]
Translation: X:70.81, Y:-1.25, Z:13.41
[[ 9.77570073e-01 -8.97724321e-02 -1.90519454e-01  7.08113776e+01]
 [ 9.24747938e-02  9.95700798e-01  5.32286115e-03 -1.24687191e+00]
 [ 1.89222526e-01 -2.28217170e-02  9.81668989e-01  1.34100116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 71.94486062399999 meters
Centerline goodness : 0.997369 with order 1
Centerline is valid?  [True, True]
Translation: X:70.87, Y:-1.25, Z:13.42
[[ 9.77468878e-01 -9.08682186e-02 -1.90519183e-01  7.08724366e+01]
 [ 9.35927607e-02  9.95596283e-01  5.33253429e-03 -1.25183572e+00]
 [ 1.89195633e-01 -2.30436026e-02  9.81668989e-01  1.34216502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.00486062399999 meters
Centerline goodness : 0.996983 with order 1
Centerline is valid?  [True, True]
Translation: X:70.93, Y:-1.26, Z:13.43
[[ 9.77343067e-01 -9.22123014e-02 -1.90518821e-01  7.09317813e+01]
 [ 9.49642506e-02  9.95466332e-01  5.34545867e-03 -1.25643831e+00]
 [ 1.89162154e-01 -2.33168240e-02  9.81668990e-01  1.34316999e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.06486062399999 meters
Centerline goodness : 0.996855 with order 1
Centerline is valid?  [True, True]
Translation: X:70.99, Y:-1.26, Z:13.45
[[ 9.77163891e-01 -9.40920248e-02 -1.90518821e-01  7.09916877e+01]
 [ 9.68788285e-02  9.95281829e-01  5.34545867e-03 -1.26150353e+00]
 [ 1.89116955e-01 -2.36806293e-02  9.81668990e-01  1.34452931e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.124860624 meters
Centerline goodness : 0.996396 with order 1
Centerline is valid?  [True, True]
Translation: X:71.05, Y:-1.26, Z:13.46
[[ 9.77169084e-01 -9.40383628e-02 -1.90518683e-01  7.10523075e+01]
 [ 9.68251118e-02  9.95287030e-01  5.35035709e-03 -1.26496911e+00]
 [ 1.89117635e-01 -2.36751963e-02  9.81668990e-01  1.34563857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.184860624 meters
Centerline goodness : 0.996452 with order 1
Centerline is valid?  [True, True]
Translation: X:71.11, Y:-1.27, Z:13.47
[[ 9.77261442e-01 -9.30742112e-02 -1.90518414e-01  7.11126865e+01]
 [ 9.58449200e-02  9.95381848e-01  5.35992462e-03 -1.26702701e+00]
 [ 1.89139700e-01 -2.34982698e-02  9.81668990e-01  1.34663315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.244860624 meters
Centerline goodness : 0.996220 with order 1
Centerline is valid?  [True, True]
Translation: X:71.17, Y:-1.27, Z:13.48
[[ 9.77468984e-01 -9.08688734e-02 -1.90518325e-01  7.11717442e+01]
 [ 9.35992908e-02  9.95595505e-01  5.36306303e-03 -1.26809856e+00]
 [ 1.89191853e-01 -2.30746079e-02  9.81668990e-01  1.34766685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.30486062399999 meters
Centerline goodness : 0.996806 with order 1
Centerline is valid?  [True, True]
Translation: X:71.23, Y:-1.27, Z:13.49
[[ 9.77589521e-01 -8.95628595e-02 -1.90518299e-01  7.12303290e+01]
 [ 9.22692389e-02  9.95719647e-01  5.36401135e-03 -1.26957462e+00]
 [ 1.89222397e-01 -2.28227797e-02  9.81668990e-01  1.34891386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.36486062399999 meters
Centerline goodness : 0.996891 with order 1
Centerline is valid?  [True, True]
Translation: X:71.29, Y:-1.27, Z:13.50
[[ 9.77735809e-01 -8.79514982e-02 -1.90518299e-01  7.12890872e+01]
 [ 9.06279923e-02  9.95870370e-01  5.36401135e-03 -1.26990255e+00]
 [ 1.89259756e-01 -2.25108769e-02  9.81668990e-01  1.35033819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.42486062399999 meters
Centerline goodness : 0.996871 with order 1
Centerline is valid?  [True, True]
Translation: X:71.35, Y:-1.27, Z:13.51
[[ 9.77841680e-01 -8.67664997e-02 -1.90518301e-01  7.13492973e+01]
 [ 8.94209982e-02  9.95979474e-01  5.36392734e-03 -1.27153155e+00]
 [ 1.89286908e-01 -2.22814084e-02  9.81668990e-01  1.35144232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.48486062399999 meters
Centerline goodness : 0.997139 with order 1
Centerline is valid?  [True, True]
Translation: X:71.41, Y:-1.27, Z:13.53
[[ 9.77923865e-01 -8.58354934e-02 -1.90518196e-01  7.14096291e+01]
 [ 8.84734410e-02  9.96064073e-01  5.36766673e-03 -1.27300556e+00]
 [ 1.89307594e-01 -2.21049698e-02  9.81668990e-01  1.35258407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.544860624 meters
Centerline goodness : 0.997230 with order 1
Centerline is valid?  [True, True]
Translation: X:71.47, Y:-1.27, Z:13.54
[[ 9.78000952e-01 -8.49530739e-02 -1.90518013e-01  7.14696440e+01]
 [ 8.75758974e-02  9.96143354e-01  5.37414294e-03 -1.27474343e+00]
 [ 1.89326703e-01 -2.19407029e-02  9.81668990e-01  1.35378115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.604860624 meters
Centerline goodness : 0.997429 with order 1
Centerline is valid?  [True, True]
Translation: X:71.53, Y:-1.28, Z:13.55
[[ 9.78066795e-01 -8.41920473e-02 -1.90517829e-01  7.15302969e+01]
 [ 8.68020031e-02  9.96211052e-01  5.38064586e-03 -1.27675093e+00]
 [ 1.89342960e-01 -2.17999603e-02  9.81668990e-01  1.35506410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.66486062399999 meters
Centerline goodness : 0.997143 with order 1
Centerline is valid?  [True, True]
Translation: X:71.59, Y:-1.28, Z:13.56
[[ 9.78097334e-01 -8.38373567e-02 -1.90517462e-01  7.15909163e+01]
 [ 8.64432245e-02  9.96242178e-01  5.39360819e-03 -1.27872960e+00]
 [ 1.89349346e-01 -2.17444176e-02  9.81668990e-01  1.35616885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.72486062399999 meters
Centerline goodness : 0.997564 with order 1
Centerline is valid?  [True, True]
Translation: X:71.65, Y:-1.28, Z:13.57
[[ 9.78079185e-01 -8.40492344e-02 -1.90517280e-01  7.16523834e+01]
 [ 8.66602735e-02  9.96223286e-01  5.40006221e-03 -1.28175201e+00]
 [ 1.89343879e-01 -2.17919680e-02  9.81668990e-01  1.35739494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.78486062399999 meters
Centerline goodness : 0.997171 with order 1
Centerline is valid?  [True, True]
Translation: X:71.71, Y:-1.28, Z:13.59
[[ 9.78112060e-01 -8.36668444e-02 -1.90516815e-01  7.17131741e+01]
 [ 8.62739286e-02  9.96256730e-01  5.41638964e-03 -1.28387046e+00]
 [ 1.89350487e-01 -2.17344702e-02  9.81668990e-01  1.35863854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.84486062399999 meters
Centerline goodness : 0.997365 with order 1
Centerline is valid?  [True, True]
Translation: X:71.77, Y:-1.28, Z:13.60
[[ 9.78298982e-01 -8.14529596e-02 -1.90516447e-01  7.17715904e+01]
 [ 8.40214606e-02  9.96449154e-01  5.42933032e-03 -1.28436879e+00]
 [ 1.89397717e-01 -2.13189784e-02  9.81668990e-01  1.35975037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.904860624 meters
Centerline goodness : 0.997630 with order 1
Centerline is valid?  [True, True]
Translation: X:71.83, Y:-1.29, Z:13.61
[[ 9.78422351e-01 -7.99571798e-02 -1.90516543e-01  7.18314340e+01]
 [ 8.24972776e-02  9.96576519e-01  5.42594535e-03 -1.28645697e+00]
 [ 1.89430470e-01 -2.10259623e-02  9.81668990e-01  1.36096902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 72.964860624 meters
Centerline goodness : 0.997674 with order 1
Centerline is valid?  [True, True]
Translation: X:71.89, Y:-1.29, Z:13.62
[[ 9.78600976e-01 -7.77408990e-02 -1.90516359e-01  7.18898200e+01]
 [ 8.02411106e-02  9.96760680e-01  5.43238230e-03 -1.28793931e+00]
 [ 1.89476898e-01 -2.06033789e-02  9.81668990e-01  1.36207130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.02486062399998 meters
Centerline goodness : 0.997583 with order 1
Centerline is valid?  [True, True]
Translation: X:71.95, Y:-1.29, Z:13.63
[[ 9.78723281e-01 -7.61854373e-02 -1.90516454e-01  7.19498992e+01]
 [ 7.86561476e-02  9.96887022e-01  5.42908022e-03 -1.28925748e+00]
 [ 1.89509763e-01 -2.02988575e-02  9.81668990e-01  1.36321986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.08486062399999 meters
Centerline goodness : 0.997940 with order 1
Centerline is valid?  [True, True]
Translation: X:72.01, Y:-1.29, Z:13.64
[[ 9.78924759e-01 -7.35520088e-02 -1.90516187e-01  7.20091098e+01]
 [ 7.59756378e-02  9.97094843e-01  5.43840539e-03 -1.28909383e+00]
 [ 1.89562702e-01 -1.97983785e-02  9.81668990e-01  1.36448415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.14486062399999 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:72.07, Y:-1.29, Z:13.66
[[ 9.78942901e-01 -7.33103490e-02 -1.90516111e-01  7.20690892e+01]
 [ 7.57300094e-02  9.97113514e-01  5.44109095e-03 -1.29093006e+00]
 [ 1.89567300e-01 -1.97543042e-02  9.81668990e-01  1.36552692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.20486062399999 meters
Centerline goodness : 0.998118 with order 1
Centerline is valid?  [True, True]
Translation: X:72.13, Y:-1.29, Z:13.67
[[ 9.78953418e-01 -7.31702256e-02 -1.90515939e-01  7.21299535e+01]
 [ 7.55884395e-02  9.97124223e-01  5.44708669e-03 -1.29330600e+00]
 [ 1.89569493e-01 -1.97332467e-02  9.81668990e-01  1.36652586e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.264860624 meters
Centerline goodness : 0.997844 with order 1
Centerline is valid?  [True, True]
Translation: X:72.19, Y:-1.29, Z:13.68
[[ 9.78959334e-01 -7.30914835e-02 -1.90515769e-01  7.21903137e+01]
 [ 7.55093825e-02  9.97130181e-01  5.45304241e-03 -1.29289593e+00]
 [ 1.89570452e-01 -1.97240348e-02  9.81668990e-01  1.36785855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.324860624 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:72.25, Y:-1.29, Z:13.69
[[ 9.78934611e-01 -7.34228247e-02 -1.90515397e-01  7.22502403e+01]
 [ 7.58493701e-02  9.97104305e-01  5.46600968e-03 -1.29369463e+00]
 [ 1.89562393e-01 -1.98013389e-02  9.81668990e-01  1.36907106e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.384860624 meters
Centerline goodness : 0.998222 with order 1
Centerline is valid?  [True, True]
Translation: X:72.31, Y:-1.29, Z:13.70
[[ 9.78967430e-01 -7.29841774e-02 -1.90515305e-01  7.23100413e+01]
 [ 7.54031993e-02  9.97138127e-01  5.46922048e-03 -1.29379801e+00]
 [ 1.89570908e-01 -1.97196522e-02  9.81668990e-01  1.37031615e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.44486062399999 meters
Centerline goodness : 0.998312 with order 1
Centerline is valid?  [True, True]
Translation: X:72.37, Y:-1.29, Z:13.71
[[ 9.79018674e-01 -7.22940247e-02 -1.90515116e-01  7.23705240e+01]
 [ 7.47014992e-02  9.97190905e-01  5.47577950e-03 -1.29492061e+00]
 [ 1.89584075e-01 -1.95926552e-02  9.81668990e-01  1.37134927e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.50486062399999 meters
Centerline goodness : 0.997954 with order 1
Centerline is valid?  [True, True]
Translation: X:72.43, Y:-1.29, Z:13.73
[[ 9.79039613e-01 -7.20115565e-02 -1.90514492e-01  7.24306088e+01]
 [ 7.44179505e-02  9.97211987e-01  5.49739862e-03 -1.29468657e+00]
 [ 1.89587459e-01 -1.95598691e-02  9.81668990e-01  1.37255214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.56486062399999 meters
Centerline goodness : 0.998223 with order 1
Centerline is valid?  [True, True]
Translation: X:72.49, Y:-1.29, Z:13.74
[[ 9.79043502e-01 -7.19591602e-02 -1.90514306e-01  7.24914069e+01]
 [ 7.43658254e-02  9.97215840e-01  5.50385824e-03 -1.29465157e+00]
 [ 1.89587830e-01 -1.95562702e-02  9.81668990e-01  1.37351460e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.624860624 meters
Centerline goodness : 0.998154 with order 1
Centerline is valid?  [True, True]
Translation: X:72.55, Y:-1.30, Z:13.75
[[ 9.79065905e-01 -7.16541902e-02 -1.90514121e-01  7.25504920e+01]
 [ 7.40564259e-02  9.97238829e-01  5.51025214e-03 -1.29521149e+00]
 [ 1.89593246e-01 -1.95036949e-02  9.81668990e-01  1.37460274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.684860624 meters
Centerline goodness : 0.998234 with order 1
Centerline is valid?  [True, True]
Translation: X:72.61, Y:-1.29, Z:13.76
[[ 9.79204537e-01 -6.97340959e-02 -1.90514121e-01  7.26101918e+01]
 [ 7.21006897e-02  9.97382137e-01  5.51025214e-03 -1.29319357e+00]
 [ 1.89631129e-01 -1.91318634e-02  9.81668990e-01  1.37590769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.744860624 meters
Centerline goodness : 0.998230 with order 1
Centerline is valid?  [True, True]
Translation: X:72.67, Y:-1.29, Z:13.77
[[ 9.79352248e-01 -6.76282492e-02 -1.90514028e-01  7.26710987e+01]
 [ 6.99563655e-02  9.97534816e-01  5.51345590e-03 -1.29219125e+00]
 [ 1.89671511e-01 -1.87272844e-02  9.81668991e-01  1.37706572e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.80486062399999 meters
Centerline goodness : 0.998289 with order 1
Centerline is valid?  [True, True]
Translation: X:72.73, Y:-1.29, Z:13.78
[[ 9.79499120e-01 -6.54673026e-02 -1.90513793e-01  7.27296171e+01]
 [ 6.77568568e-02  9.97686584e-01  5.52155347e-03 -1.29111297e+00]
 [ 1.89711575e-01 -1.83169726e-02  9.81668991e-01  1.37813042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.86486062399999 meters
Centerline goodness : 0.998198 with order 1
Centerline is valid?  [True, True]
Translation: X:72.79, Y:-1.29, Z:13.79
[[ 9.79593394e-01 -6.40409300e-02 -1.90513890e-01  7.27895461e+01]
 [ 6.63033565e-02  9.97784252e-01  5.51822527e-03 -1.29083844e+00]
 [ 1.89738367e-01 -1.80373274e-02  9.81668991e-01  1.37923996e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.92486062399999 meters
Centerline goodness : 0.998046 with order 1
Centerline is valid?  [True, True]
Translation: X:72.85, Y:-1.29, Z:13.80
[[ 9.79609807e-01 -6.37896402e-02 -1.90513799e-01  7.28502263e+01]
 [ 6.60480071e-02  9.97801170e-01  5.52137407e-03 -1.28734384e+00]
 [ 1.89742685e-01 -1.79918489e-02  9.81668991e-01  1.38047981e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 73.98486062399999 meters
Centerline goodness : 0.998087 with order 1
Centerline is valid?  [True, True]
Translation: X:72.91, Y:-1.29, Z:13.81
[[ 9.79585897e-01 -6.41566156e-02 -1.90513515e-01  7.29108983e+01]
 [ 6.64236784e-02  9.97776178e-01  5.53113424e-03 -1.28588217e+00]
 [ 1.89734988e-01 -1.80728296e-02  9.81668991e-01  1.38146562e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.044860624 meters
Centerline goodness : 0.997922 with order 1
Centerline is valid?  [True, True]
Translation: X:72.97, Y:-1.29, Z:13.82
[[ 9.79525599e-01 -6.50715618e-02 -1.90513235e-01  7.29697513e+01]
 [ 6.73574694e-02  9.97713522e-01  5.54076195e-03 -1.28576606e+00]
 [ 1.89717085e-01 -1.82598076e-02  9.81668991e-01  1.38243474e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.104860624 meters
Centerline goodness : 0.998507 with order 1
Centerline is valid?  [True, True]
Translation: X:73.03, Y:-1.28, Z:13.84
[[ 9.79504260e-01 -6.53927154e-02 -1.90512987e-01  7.30296873e+01]
 [ 6.76862277e-02  9.97691225e-01  5.54928019e-03 -1.28384157e+00]
 [ 1.89710253e-01 -1.83306490e-02  9.81668991e-01  1.38362610e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.16486062399999 meters
Centerline goodness : 0.998404 with order 1
Centerline is valid?  [True, True]
Translation: X:73.09, Y:-1.28, Z:13.85
[[ 9.79507491e-01 -6.53445647e-02 -1.90512896e-01  7.30890998e+01]
 [ 6.76377873e-02  9.97694493e-01  5.55241684e-03 -1.28099946e+00]
 [ 1.89710846e-01 -1.83245046e-02  9.81668991e-01  1.38493165e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.22486062399999 meters
Centerline goodness : 0.998540 with order 1
Centerline is valid?  [True, True]
Translation: X:73.15, Y:-1.28, Z:13.86
[[ 9.79435620e-01 -6.64133832e-02 -1.90512806e-01  7.31487995e+01]
 [ 6.87270443e-02  9.97620033e-01  5.55549904e-03 -1.28149084e+00]
 [ 1.89690432e-01 -1.85346357e-02  9.81668991e-01  1.38605577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.28486062399999 meters
Centerline goodness : 0.998557 with order 1
Centerline is valid?  [True, True]
Translation: X:73.21, Y:-1.28, Z:13.87
[[ 9.79271720e-01 -6.87881134e-02 -1.90512714e-01  7.32077992e+01]
 [ 7.11464680e-02  9.97450390e-01  5.55865005e-03 -1.28059969e+00]
 [ 1.89644612e-01 -1.89977355e-02  9.81668991e-01  1.38700114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.34486062399999 meters
Centerline goodness : 0.998319 with order 1
Centerline is valid?  [True, True]
Translation: X:73.27, Y:-1.28, Z:13.88
[[ 9.79057621e-01 -7.17713329e-02 -1.90512601e-01  7.32670990e+01]
 [ 7.41858075e-02  9.97228923e-01  5.56252520e-03 -1.27977261e+00]
 [ 1.89585446e-01 -1.95793638e-02  9.81668991e-01  1.38832657e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.404860624 meters
Centerline goodness : 0.998356 with order 1
Centerline is valid?  [True, True]
Translation: X:73.33, Y:-1.28, Z:13.89
[[ 9.78924126e-01 -7.35699637e-02 -1.90512510e-01  7.33269720e+01]
 [ 7.60184184e-02  9.97090880e-01  5.56563878e-03 -1.28097591e+00]
 [ 1.89548822e-01 -1.99307977e-02  9.81668991e-01  1.38949712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.464860624 meters
Centerline goodness : 0.998477 with order 1
Centerline is valid?  [True, True]
Translation: X:73.39, Y:-1.28, Z:13.91
[[ 9.78629308e-01 -7.73931253e-02 -1.90512417e-01  7.33867230e+01]
 [ 7.99131314e-02  9.96786276e-01  5.56880946e-03 -1.28131223e+00]
 [ 1.89469175e-01 -2.06742440e-02  9.81668991e-01  1.39066912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.52486062399998 meters
Centerline goodness : 0.998169 with order 1
Centerline is valid?  [True, True]
Translation: X:73.45, Y:-1.28, Z:13.92
[[ 9.78408417e-01 -8.01373615e-02 -1.90512394e-01  7.34468125e+01]
 [ 8.27084331e-02  9.96558224e-01  5.56961353e-03 -1.28193748e+00]
 [ 1.89410358e-01 -2.12063383e-02  9.81668991e-01  1.39176374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.58486062399999 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:73.51, Y:-1.28, Z:13.93
[[ 9.78088179e-01 -8.39558022e-02 -1.90512301e-01  7.35057755e+01]
 [ 8.65983079e-02  9.96227724e-01  5.57278269e-03 -1.28373701e+00]
 [ 1.89325768e-01 -2.19487158e-02  9.81668991e-01  1.39275815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.64486062399999 meters
Centerline goodness : 0.998426 with order 1
Centerline is valid?  [True, True]
Translation: X:73.57, Y:-1.29, Z:13.94
[[ 9.77966453e-01 -8.53622753e-02 -1.90512201e-01  7.35656335e+01]
 [ 8.80315168e-02  9.96102082e-01  5.57617860e-03 -1.28564279e+00]
 [ 1.89293605e-01 -2.22243937e-02  9.81668991e-01  1.39379415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.70486062399999 meters
Centerline goodness : 0.998536 with order 1
Centerline is valid?  [True, True]
Translation: X:73.63, Y:-1.28, Z:13.95
[[ 9.77880895e-01 -8.63373381e-02 -1.90511993e-01  7.36266347e+01]
 [ 8.90260243e-02  9.96013652e-01  5.58327543e-03 -1.28497802e+00]
 [ 1.89270501e-01 -2.24203037e-02  9.81668991e-01  1.39515066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.764860624 meters
Centerline goodness : 0.998441 with order 1
Centerline is valid?  [True, True]
Translation: X:73.69, Y:-1.29, Z:13.96
[[ 9.77913503e-01 -8.59680246e-02 -1.90511624e-01  7.36872340e+01]
 [ 8.86522770e-02  9.96046917e-01  5.59584152e-03 -1.28696022e+00]
 [ 1.89277453e-01 -2.23615383e-02  9.81668991e-01  1.39641158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.824860624 meters
Centerline goodness : 0.998562 with order 1
Centerline is valid?  [True, True]
Translation: X:73.75, Y:-1.29, Z:13.97
[[ 9.77921940e-01 -8.58734039e-02 -1.90510992e-01  7.37488196e+01]
 [ 8.85600257e-02  9.96055002e-01  5.61730628e-03 -1.28956015e+00]
 [ 1.89277049e-01 -2.23649454e-02  9.81668991e-01  1.39746295e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.884860624 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:73.81, Y:-1.29, Z:13.99
[[ 9.77948272e-01 -8.55738522e-02 -1.90510612e-01  7.38083555e+01]
 [ 8.82573898e-02  9.96081791e-01  5.63016341e-03 -1.29042476e+00]
 [ 1.89282356e-01 -2.23199779e-02  9.81668991e-01  1.39864212e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 74.94486062399999 meters
Centerline goodness : 0.998046 with order 1
Centerline is valid?  [True, True]
Translation: X:73.87, Y:-1.29, Z:14.00
[[ 9.77977749e-01 -8.52367309e-02 -1.90510423e-01  7.38687494e+01]
 [ 8.79152430e-02  9.96112012e-01  5.63654180e-03 -1.29261319e+00]
 [ 1.89289280e-01 -2.22611826e-02  9.81668991e-01  1.39990842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.00486062399999 meters
Centerline goodness : 0.998092 with order 1
Centerline is valid?  [True, True]
Translation: X:73.93, Y:-1.29, Z:14.01
[[ 9.77995769e-01 -8.50313608e-02 -1.90509696e-01  7.39299700e+01]
 [ 8.77107640e-02  9.96129899e-01  5.66099945e-03 -1.29459418e+00]
 [ 1.89291042e-01 -2.22461845e-02  9.81668991e-01  1.40091642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.06486062399999 meters
Centerline goodness : 0.997837 with order 1
Centerline is valid?  [True, True]
Translation: X:73.99, Y:-1.30, Z:14.02
[[ 9.78030458e-01 -8.46322847e-02 -1.90509318e-01  7.39908170e+01]
 [ 8.73067308e-02  9.96165319e-01  5.67371172e-03 -1.29660080e+00]
 [ 1.89298596e-01 -2.21818086e-02  9.81668992e-01  1.40213039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.124860624 meters
Centerline goodness : 0.998733 with order 1
Centerline is valid?  [True, True]
Translation: X:74.05, Y:-1.30, Z:14.03
[[ 9.77932920e-01 -8.57528585e-02 -1.90508928e-01  7.40506448e+01]
 [ 8.84505921e-02  9.96064332e-01  5.68677860e-03 -1.29980612e+00]
 [ 1.89271490e-01 -2.24119154e-02  9.81668992e-01  1.40323198e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.184860624 meters
Centerline goodness : 0.998079 with order 1
Centerline is valid?  [True, True]
Translation: X:74.11, Y:-1.30, Z:14.05
[[ 9.77888946e-01 -8.62535109e-02 -1.90508638e-01  7.41113504e+01]
 [ 8.89623862e-02  9.96018697e-01  5.69645874e-03 -1.30295951e+00]
 [ 1.89258826e-01 -2.25186071e-02  9.81668992e-01  1.40454099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.244860624 meters
Centerline goodness : 0.998433 with order 1
Centerline is valid?  [True, True]
Translation: X:74.17, Y:-1.31, Z:14.06
[[ 9.77691040e-01 -8.84694155e-02 -1.90508247e-01  7.41704786e+01]
 [ 9.12218751e-02  9.95814225e-01  5.70950365e-03 -1.30678694e+00]
 [ 1.89205706e-01 -2.29606501e-02  9.81668992e-01  1.40565077e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.30486062399999 meters
Centerline goodness : 0.997926 with order 1
Centerline is valid?  [True, True]
Translation: X:74.23, Y:-1.31, Z:14.07
[[ 9.77566710e-01 -8.98329372e-02 -1.90508192e-01  7.42301282e+01]
 [ 9.26110255e-02  9.95685984e-01  5.71135034e-03 -1.31021802e+00]
 [ 1.89173269e-01 -2.32263850e-02  9.81668992e-01  1.40695223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.36486062399999 meters
Centerline goodness : 0.998535 with order 1
Centerline is valid?  [True, True]
Translation: X:74.29, Y:-1.31, Z:14.08
[[ 9.77467581e-01 -9.09054561e-02 -1.90508073e-01  7.42889985e+01]
 [ 9.37041834e-02  9.95583679e-01  5.71531211e-03 -1.31459893e+00]
 [ 1.89147175e-01 -2.34379357e-02  9.81668992e-01  1.40799931e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.42486062399999 meters
Centerline goodness : 0.998469 with order 1
Centerline is valid?  [True, True]
Translation: X:74.35, Y:-1.32, Z:14.09
[[ 9.77364123e-01 -9.20121206e-02 -1.90507587e-01  7.43486826e+01]
 [ 9.48344574e-02  9.95476557e-01  5.73146339e-03 -1.31936236e+00]
 [ 1.89118473e-01 -2.36684103e-02  9.81668992e-01  1.40912490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.48486062399999 meters
Centerline goodness : 0.998476 with order 1
Centerline is valid?  [True, True]
Translation: X:74.41, Y:-1.32, Z:14.10
[[ 9.77344988e-01 -9.22152096e-02 -1.90507557e-01  7.44088550e+01]
 [ 9.50415039e-02  9.95456805e-01  5.73247371e-03 -1.32304048e+00]
 [ 1.89113422e-01 -2.37087291e-02  9.81668992e-01  1.41031239e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.544860624 meters
Centerline goodness : 0.998224 with order 1
Centerline is valid?  [True, True]
Translation: X:74.47, Y:-1.33, Z:14.12
[[ 9.77431287e-01 -9.12963569e-02 -1.90507360e-01  7.44684181e+01]
 [ 9.41068764e-02  9.95545559e-01  5.73900460e-03 -1.32703577e+00]
 [ 1.89134806e-01 -2.35375352e-02  9.81668992e-01  1.41158622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.604860624 meters
Centerline goodness : 0.998807 with order 1
Centerline is valid?  [True, True]
Translation: X:74.53, Y:-1.33, Z:14.13
[[ 9.77471115e-01 -9.08691518e-02 -1.90507261e-01  7.45289437e+01]
 [ 9.36723849e-02  9.95586516e-01  5.74229152e-03 -1.33293670e+00]
 [ 1.89144663e-01 -2.34581936e-02  9.81668992e-01  1.41276974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.66486062399999 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:74.59, Y:-1.34, Z:14.14
[[ 9.77513112e-01 -9.04168906e-02 -1.90506960e-01  7.45885035e+01]
 [ 9.32136541e-02  9.95629513e-01  5.75225385e-03 -1.33637258e+00]
 [ 1.89154251e-01 -2.33807535e-02  9.81668992e-01  1.41387570e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.72486062399999 meters
Centerline goodness : 0.998722 with order 1
Centerline is valid?  [True, True]
Translation: X:74.65, Y:-1.34, Z:14.15
[[ 9.77606253e-01 -8.94046250e-02 -1.90506763e-01  7.46476048e+01]
 [ 9.21838779e-02  9.95725348e-01  5.75876687e-03 -1.33978749e+00]
 [ 1.89177553e-01 -2.31914587e-02  9.81668992e-01  1.41482258e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.78486062399999 meters
Centerline goodness : 0.998793 with order 1
Centerline is valid?  [True, True]
Translation: X:74.71, Y:-1.34, Z:14.16
[[ 9.77751875e-01 -8.77977420e-02 -1.90506763e-01  7.47069473e+01]
 [ 9.05472111e-02  9.95875514e-01  5.75876687e-03 -1.34455073e+00]
 [ 1.89215414e-01 -2.28805012e-02  9.81668992e-01  1.41608465e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.84486062399999 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:74.77, Y:-1.35, Z:14.17
[[ 9.77921082e-01 -8.58925442e-02 -1.90506769e-01  7.47667572e+01]
 [ 8.86066597e-02  9.96050048e-01  5.75857554e-03 -1.34773093e+00]
 [ 1.89259658e-01 -2.25116009e-02  9.81668992e-01  1.41725641e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.904860624 meters
Centerline goodness : 0.997850 with order 1
Centerline is valid?  [True, True]
Translation: X:74.83, Y:-1.35, Z:14.19
[[ 9.78038326e-01 -8.45474939e-02 -1.90506573e-01  7.48257202e+01]
 [ 8.72379149e-02  9.96170824e-01  5.76503741e-03 -1.35051582e+00]
 [ 1.89289671e-01 -2.22578238e-02  9.81668992e-01  1.41858590e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 75.964860624 meters
Centerline goodness : 0.997859 with order 1
Centerline is valid?  [True, True]
Translation: X:74.89, Y:-1.35, Z:14.20
[[ 9.78129325e-01 -8.34881397e-02 -1.90506573e-01  7.48856827e+01]
 [ 8.61589199e-02  9.96264726e-01  5.76503741e-03 -1.35491036e+00]
 [ 1.89313667e-01 -2.20527928e-02  9.81668992e-01  1.41974450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.02486062399998 meters
Centerline goodness : 0.997693 with order 1
Centerline is valid?  [True, True]
Translation: X:74.95, Y:-1.36, Z:14.21
[[ 9.78182862e-01 -8.28591882e-02 -1.90506282e-01  7.49464406e+01]
 [ 8.55201563e-02  9.96319706e-01  5.77466104e-03 -1.35781176e+00]
 [ 1.89326679e-01 -2.19408014e-02  9.81668992e-01  1.42102975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.08486062399999 meters
Centerline goodness : 0.997731 with order 1
Centerline is valid?  [True, True]
Translation: X:75.00, Y:-1.36, Z:14.22
[[ 9.78243226e-01 -8.21443715e-02 -1.90505890e-01  7.50047488e+01]
 [ 8.47945665e-02  9.96381647e-01  5.78756973e-03 -1.36323389e+00]
 [ 1.89341156e-01 -2.18155152e-02  9.81668992e-01  1.42197050e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.14486062399999 meters
Centerline goodness : 0.997649 with order 1
Centerline is valid?  [True, True]
Translation: X:75.06, Y:-1.37, Z:14.23
[[ 9.78170776e-01 -8.30024566e-02 -1.90505973e-01  7.50635742e+01]
 [ 8.56680350e-02  9.96306942e-01  5.78482945e-03 -1.36876642e+00]
 [ 1.89322268e-01 -2.19788235e-02  9.81668992e-01  1.42323022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.20486062399999 meters
Centerline goodness : 0.997346 with order 1
Centerline is valid?  [True, True]
Translation: X:75.12, Y:-1.37, Z:14.24
[[ 9.78136253e-01 -8.34083717e-02 -1.90505940e-01  7.51233316e+01]
 [ 8.60816836e-02  9.96271282e-01  5.78590917e-03 -1.37398251e+00]
 [ 1.89313004e-01 -2.20584796e-02  9.81668992e-01  1.42427738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.264860624 meters
Centerline goodness : 0.996932 with order 1
Centerline is valid?  [True, True]
Translation: X:75.18, Y:-1.38, Z:14.25
[[ 9.78172372e-01 -8.29841698e-02 -1.90505743e-01  7.51840388e+01]
 [ 8.56508599e-02  9.96308375e-01  5.79237855e-03 -1.37770113e+00]
 [ 1.89321792e-01 -2.19829254e-02  9.81668992e-01  1.42544748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.324860624 meters
Centerline goodness : 0.996987 with order 1
Centerline is valid?  [True, True]
Translation: X:75.24, Y:-1.38, Z:14.27
[[ 9.78089571e-01 -8.39553685e-02 -1.90505348e-01  7.52432960e+01]
 [ 8.66425548e-02  9.96222548e-01  5.80533875e-03 -1.38263381e+00]
 [ 1.89298334e-01 -2.21840114e-02  9.81668992e-01  1.42655403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.38486062399998 meters
Centerline goodness : 0.997353 with order 1
Centerline is valid?  [True, True]
Translation: X:75.30, Y:-1.38, Z:14.28
[[ 9.77921309e-01 -8.58931502e-02 -1.90505330e-01  7.53026967e+01]
 [ 8.86163742e-02  9.96048909e-01  5.80593781e-03 -1.38496769e+00]
 [ 1.89253936e-01 -2.25596419e-02  9.81668992e-01  1.42775502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.44486062399999 meters
Centerline goodness : 0.997567 with order 1
Centerline is valid?  [True, True]
Translation: X:75.36, Y:-1.39, Z:14.29
[[ 9.77662609e-01 -8.87893583e-02 -1.90505312e-01  7.53624994e+01]
 [ 9.15663810e-02  9.95782045e-01  5.80654718e-03 -1.38684185e+00]
 [ 1.89186209e-01 -2.31207260e-02  9.81668992e-01  1.42891546e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.50486062399999 meters
Centerline goodness : 0.997390 with order 1
Centerline is valid?  [True, True]
Translation: X:75.42, Y:-1.39, Z:14.30
[[ 9.77374394e-01 -9.19077119e-02 -1.90505294e-01  7.54220416e+01]
 [ 9.47426351e-02  9.95484862e-01  5.80713362e-03 -1.39041641e+00]
 [ 1.89111416e-01 -2.37247172e-02  9.81668992e-01  1.42995418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.56486062399999 meters
Centerline goodness : 0.997324 with order 1
Centerline is valid?  [True, True]
Translation: X:75.48, Y:-1.39, Z:14.31
[[ 9.77278755e-01 -9.29192434e-02 -1.90505249e-01  7.54819479e+01]
 [ 9.57731913e-02  9.95386235e-01  5.80860273e-03 -1.39240538e+00]
 [ 1.89086571e-01 -2.39219197e-02  9.81668992e-01  1.43116129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.624860624 meters
Centerline goodness : 0.997433 with order 1
Centerline is valid?  [True, True]
Translation: X:75.54, Y:-1.39, Z:14.33
[[ 9.77339242e-01 -9.22810610e-02 -1.90505150e-01  7.55411521e+01]
 [ 9.51238064e-02  9.95448484e-01  5.81184585e-03 -1.39271648e+00]
 [ 1.89101739e-01 -2.38017200e-02  9.81668992e-01  1.43253445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.684860624 meters
Centerline goodness : 0.997612 with order 1
Centerline is valid?  [True, True]
Translation: X:75.60, Y:-1.39, Z:14.34
[[ 9.77429651e-01 -9.13185474e-02 -1.90505119e-01  7.56009890e+01]
 [ 9.41436548e-02  9.95541653e-01  5.81287306e-03 -1.39460631e+00]
 [ 1.89124958e-01 -2.36165226e-02  9.81668992e-01  1.43369227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.744860624 meters
Centerline goodness : 0.997542 with order 1
Centerline is valid?  [True, True]
Translation: X:75.66, Y:-1.40, Z:14.35
[[ 9.77549339e-01 -9.00289023e-02 -1.90504821e-01  7.56602051e+01]
 [ 9.28319772e-02  9.95664764e-01  5.82259383e-03 -1.39688124e+00]
 [ 1.89154736e-01 -2.33768120e-02  9.81668992e-01  1.43476328e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.80486062399999 meters
Centerline goodness : 0.996788 with order 1
Centerline is valid?  [True, True]
Translation: X:75.72, Y:-1.40, Z:14.36
[[ 9.77866475e-01 -8.65163249e-02 -1.90504807e-01  7.57201139e+01]
 [ 8.92543873e-02  9.95991841e-01  5.82305257e-03 -1.39661612e+00]
 [ 1.89237445e-01 -2.26975578e-02  9.81668992e-01  1.43601741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.86486062399999 meters
Centerline goodness : 0.997065 with order 1
Centerline is valid?  [True, True]
Translation: X:75.78, Y:-1.40, Z:14.37
[[ 9.78447283e-01 -7.96797149e-02 -1.90504743e-01  7.57793519e+01]
 [ 8.22914336e-02  9.96591284e-01  5.82515830e-03 -1.39532128e+00]
 [ 1.89391220e-01 -2.13765187e-02  9.81668992e-01  1.43702294e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.92486062399999 meters
Centerline goodness : 0.996925 with order 1
Centerline is valid?  [True, True]
Translation: X:75.84, Y:-1.39, Z:14.38
[[ 9.78902435e-01 -7.38781522e-02 -1.90504700e-01  7.58387433e+01]
 [ 7.63825382e-02  9.97061562e-01  5.82655877e-03 -1.39432113e+00]
 [ 1.89514459e-01 -2.02548651e-02  9.81668992e-01  1.43809136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 76.98486062399999 meters
Centerline goodness : 0.997112 with order 1
Centerline is valid?  [True, True]
Translation: X:75.90, Y:-1.39, Z:14.39
[[ 9.79112322e-01 -7.10424969e-02 -1.90504659e-01  7.58980533e+01]
 [ 7.34945365e-02  9.97278591e-01  5.82791542e-03 -1.39047145e+00]
 [ 1.89572188e-01 -1.97072354e-02  9.81668992e-01  1.43949428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.044860624 meters
Centerline goodness : 0.996964 with order 1
Centerline is valid?  [True, True]
Translation: X:75.96, Y:-1.39, Z:14.41
[[ 9.79143302e-01 -7.06144938e-02 -1.90504561e-01  7.59585859e+01]
 [ 7.30592064e-02  9.97310559e-01  5.83110606e-03 -1.38938631e+00]
 [ 1.89580450e-01 -1.96276005e-02  9.81668992e-01  1.44053059e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.104860624 meters
Centerline goodness : 0.996887 with order 1
Centerline is valid?  [True, True]
Translation: X:76.02, Y:-1.39, Z:14.42
[[ 9.78970297e-01 -7.29745201e-02 -1.90504271e-01  7.60184603e+01]
 [ 7.54648406e-02  9.97131358e-01  5.84057776e-03 -1.38782879e+00]
 [ 1.89531569e-01 -2.00941266e-02  9.81668992e-01  1.44154047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.16486062399999 meters
Centerline goodness : 0.996997 with order 1
Centerline is valid?  [True, True]
Translation: X:76.08, Y:-1.39, Z:14.43
[[ 9.78881930e-01 -7.41509509e-02 -1.90504076e-01  7.60788827e+01]
 [ 7.66643171e-02  9.97039817e-01  5.84693140e-03 -1.38530914e+00]
 [ 1.89506593e-01 -2.03283204e-02  9.81668992e-01  1.44305863e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.22486062399999 meters
Centerline goodness : 0.996784 with order 1
Centerline is valid?  [True, True]
Translation: X:76.14, Y:-1.38, Z:14.44
[[ 9.78708800e-01 -7.64031007e-02 -1.90503676e-01  7.61391084e+01]
 [ 7.89607420e-02  9.96860503e-01  5.85993747e-03 -1.38095346e+00]
 [ 1.89457873e-01 -2.07774840e-02  9.81668992e-01  1.44439157e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.28486062399999 meters
Centerline goodness : 0.996767 with order 1
Centerline is valid?  [True, True]
Translation: X:76.20, Y:-1.38, Z:14.45
[[ 9.78638431e-01 -7.72997222e-02 -1.90503477e-01  7.61980794e+01]
 [ 7.98752313e-02  9.96787607e-01  5.86638090e-03 -1.38166117e+00]
 [ 1.89438036e-01 -2.09575751e-02  9.81668992e-01  1.44542847e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.34486062399999 meters
Centerline goodness : 0.996860 with order 1
Centerline is valid?  [True, True]
Translation: X:76.26, Y:-1.38, Z:14.47
[[ 9.78467096e-01 -7.94401562e-02 -1.90503027e-01  7.62580524e+01]
 [ 8.20581584e-02  9.96610191e-01  5.88094998e-03 -1.38151216e+00]
 [ 1.89390075e-01 -2.13866437e-02  9.81668993e-01  1.44653006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.404860624 meters
Centerline goodness : 0.996868 with order 1
Centerline is valid?  [True, True]
Translation: X:76.32, Y:-1.38, Z:14.48
[[ 9.78153349e-01 -8.32143238e-02 -1.90503025e-01  7.63171476e+01]
 [ 8.59023133e-02  9.96286207e-01  5.88102185e-03 -1.37917360e+00]
 [ 1.89306151e-01 -2.21171918e-02  9.81668993e-01  1.44789179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.464860624 meters
Centerline goodness : 0.997022 with order 1
Centerline is valid?  [True, True]
Translation: X:76.38, Y:-1.38, Z:14.49
[[ 9.77969330e-01 -8.53497798e-02 -1.90503029e-01  7.63765996e+01]
 [ 8.80773326e-02  9.96096280e-01  5.88091392e-03 -1.37920991e+00]
 [ 1.89257423e-01 -2.25303521e-02  9.81668993e-01  1.44905455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.52486062399998 meters
Centerline goodness : 0.997287 with order 1
Centerline is valid?  [True, True]
Translation: X:76.44, Y:-1.38, Z:14.50
[[ 9.77802016e-01 -8.72458411e-02 -1.90502969e-01  7.64361431e+01]
 [ 9.00089036e-02  9.95923586e-01  5.88282936e-03 -1.38128060e+00]
 [ 1.89213148e-01 -2.28992058e-02  9.81668993e-01  1.45000162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.58486062399999 meters
Centerline goodness : 0.996908 with order 1
Centerline is valid?  [True, True]
Translation: X:76.50, Y:-1.38, Z:14.51
[[ 9.77716003e-01 -8.82046699e-02 -1.90502896e-01  7.64974866e+01]
 [ 9.09859571e-02  9.95834786e-01  5.88520049e-03 -1.38211723e+00]
 [ 1.89190309e-01 -2.30871430e-02  9.81668993e-01  1.45118101e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.64486062399999 meters
Centerline goodness : 0.997323 with order 1
Centerline is valid?  [True, True]
Translation: X:76.56, Y:-1.38, Z:14.52
[[ 9.77685984e-01 -8.85376283e-02 -1.90502504e-01  7.65572424e+01]
 [ 9.13275159e-02  9.95803445e-01  5.89785992e-03 -1.38279361e+00]
 [ 1.89180867e-01 -2.31643755e-02  9.81668993e-01  1.45248321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.70486062399999 meters
Centerline goodness : 0.997563 with order 1
Centerline is valid?  [True, True]
Translation: X:76.62, Y:-1.39, Z:14.54
[[ 9.77772091e-01 -8.75818724e-02 -1.90502370e-01  7.66171869e+01]
 [ 9.03548804e-02  9.95892143e-01  5.90219300e-03 -1.38503022e+00]
 [ 1.89202888e-01 -2.29838184e-02  9.81668993e-01  1.45365920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.764860624 meters
Centerline goodness : 0.997320 with order 1
Centerline is valid?  [True, True]
Translation: X:76.68, Y:-1.38, Z:14.55
[[ 9.78023470e-01 -8.47288486e-02 -1.90502268e-01  7.66768386e+01]
 [ 8.74496117e-02  9.96151440e-01  5.90548441e-03 -1.38468915e+00]
 [ 1.89268744e-01 -2.24350517e-02  9.81668993e-01  1.45490778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.824860624 meters
Centerline goodness : 0.997387 with order 1
Centerline is valid?  [True, True]
Translation: X:76.74, Y:-1.39, Z:14.56
[[ 9.78301354e-01 -8.14578311e-02 -1.90502186e-01  7.67353680e+01]
 [ 8.41184665e-02  9.96438246e-01  5.90812825e-03 -1.38508801e+00]
 [ 1.89342401e-01 -2.18046816e-02  9.81668993e-01  1.45603351e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.88486062399998 meters
Centerline goodness : 0.997072 with order 1
Centerline is valid?  [True, True]
Translation: X:76.79, Y:-1.39, Z:14.57
[[ 9.78644873e-01 -7.72210368e-02 -1.90502293e-01  7.67937515e+01]
 [ 7.98024486e-02  9.96793210e-01  5.90466386e-03 -1.38530916e+00]
 [ 1.89435428e-01 -2.09811185e-02  9.81668993e-01  1.45721885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 77.94486062399999 meters
Centerline goodness : 0.997373 with order 1
Centerline is valid?  [True, True]
Translation: X:76.85, Y:-1.39, Z:14.58
[[ 9.78876319e-01 -7.42292864e-02 -1.90502404e-01  7.68530348e+01]
 [ 7.67545244e-02  9.97032557e-01  5.90108536e-03 -1.38592364e+00]
 [ 1.89499066e-01 -2.03983541e-02  9.81668993e-01  1.45839739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.00486062399999 meters
Centerline goodness : 0.997464 with order 1
Centerline is valid?  [True, True]
Translation: X:76.91, Y:-1.39, Z:14.60
[[ 9.79085738e-01 -7.14139466e-02 -1.90502404e-01  7.69125449e+01]
 [ 7.38869607e-02  9.97249164e-01  5.90108536e-03 -1.38682468e+00]
 [ 1.89556944e-01 -1.98533122e-02  9.81668993e-01  1.45955745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.06486062399999 meters
Centerline goodness : 0.996616 with order 1
Centerline is valid?  [True, True]
Translation: X:76.97, Y:-1.39, Z:14.61
[[ 9.79276663e-01 -6.87464107e-02 -1.90502360e-01  7.69718053e+01]
 [ 7.11702113e-02  9.97446721e-01  5.90252518e-03 -1.38889432e+00]
 [ 1.89610177e-01 -1.93382983e-02  9.81668993e-01  1.46075251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.124860624 meters
Centerline goodness : 0.997251 with order 1
Centerline is valid?  [True, True]
Translation: X:77.03, Y:-1.39, Z:14.62
[[ 9.79333250e-01 -6.79355373e-02 -1.90502360e-01  7.70323111e+01]
 [ 7.03442920e-02  9.97505309e-01  5.90252518e-03 -1.39152481e+00]
 [ 1.89626124e-01 -1.91812928e-02  9.81668993e-01  1.46199975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.184860624 meters
Centerline goodness : 0.997166 with order 1
Centerline is valid?  [True, True]
Translation: X:77.09, Y:-1.39, Z:14.63
[[ 9.79368845e-01 -6.74212579e-02 -1.90502073e-01  7.70913517e+01]
 [ 6.98222469e-02  9.97541931e-01  5.91175475e-03 -1.39460644e+00]
 [ 1.89635228e-01 -1.90910712e-02  9.81668993e-01  1.46329966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.244860624 meters
Centerline goodness : 0.997264 with order 1
Centerline is valid?  [True, True]
Translation: X:77.15, Y:-1.40, Z:14.64
[[ 9.79344059e-01 -6.77803408e-02 -1.90502073e-01  7.71514449e+01]
 [ 7.01879929e-02  9.97516264e-01  5.91175475e-03 -1.39772616e+00]
 [ 1.89628216e-01 -1.91606001e-02  9.81668993e-01  1.46444425e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.30486062399999 meters
Centerline goodness : 0.997163 with order 1
Centerline is valid?  [True, True]
Translation: X:77.21, Y:-1.40, Z:14.66
[[ 9.79285514e-01 -6.86212749e-02 -1.90501974e-01  7.72112397e+01]
 [ 7.10451452e-02  9.97455563e-01  5.91494764e-03 -1.40248914e+00]
 [ 1.89611363e-01 -1.93266630e-02  9.81668993e-01  1.46558470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.36486062399999 meters
Centerline goodness : 0.997378 with order 1
Centerline is valid?  [True, True]
Translation: X:77.27, Y:-1.41, Z:14.67
[[ 9.79140198e-01 -7.06652442e-02 -1.90501694e-01  7.72707569e+01]
 [ 7.31287699e-02  9.97304913e-01  5.92395319e-03 -1.40642487e+00]
 [ 1.89569658e-01 -1.97315353e-02  9.81668993e-01  1.46665040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.42486062399999 meters
Centerline goodness : 0.997453 with order 1
Centerline is valid?  [True, True]
Translation: X:77.33, Y:-1.41, Z:14.68
[[ 9.78926186e-01 -7.35708051e-02 -1.90501596e-01  7.73301417e+01]
 [ 7.60888348e-02  9.97083426e-01  5.92710252e-03 -1.41038259e+00]
 [ 1.89509922e-01 -2.02972403e-02  9.81668993e-01  1.46792257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.48486062399999 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:77.39, Y:-1.41, Z:14.69
[[ 9.78821654e-01 -7.49493056e-02 -1.90501370e-01  7.73899222e+01]
 [ 7.74942982e-02  9.96975134e-01  5.93435692e-03 -1.41444543e+00]
 [ 1.89480353e-01 -2.05714470e-02  9.81668993e-01  1.46921724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.544860624 meters
Centerline goodness : 0.997678 with order 1
Centerline is valid?  [True, True]
Translation: X:77.45, Y:-1.42, Z:14.70
[[ 9.78675397e-01 -7.68360237e-02 -1.90501165e-01  7.74496154e+01]
 [ 7.94172732e-02  9.96823757e-01  5.94094818e-03 -1.41906894e+00]
 [ 1.89439608e-01 -2.09433428e-02  9.81668993e-01  1.47032768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.604860624 meters
Centerline goodness : 0.997455 with order 1
Centerline is valid?  [True, True]
Translation: X:77.51, Y:-1.42, Z:14.71
[[ 9.78506975e-01 -7.89521715e-02 -1.90501062e-01  7.75085769e+01]
 [ 8.15732938e-02  9.96649619e-01  5.94424628e-03 -1.42365645e+00]
 [ 1.89393499e-01 -2.13562855e-02  9.81668993e-01  1.47147664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.66486062399999 meters
Centerline goodness : 0.997507 with order 1
Centerline is valid?  [True, True]
Translation: X:77.57, Y:-1.43, Z:14.73
[[ 9.78430894e-01 -7.98900293e-02 -1.90500836e-01  7.75682149e+01]
 [ 8.25299291e-02  9.96570816e-01  5.95147347e-03 -1.42781713e+00]
 [ 1.89372110e-01 -2.15451260e-02  9.81668993e-01  1.47264520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.72486062399999 meters
Centerline goodness : 0.997271 with order 1
Centerline is valid?  [True, True]
Translation: X:77.63, Y:-1.43, Z:14.74
[[ 9.78340158e-01 -8.09942256e-02 -1.90500578e-01  7.76282645e+01]
 [ 8.36561798e-02  9.96476856e-01  5.95971312e-03 -1.43394337e+00]
 [ 1.89346715e-01 -2.17671773e-02  9.81668993e-01  1.47363151e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.78486062399999 meters
Centerline goodness : 0.997661 with order 1
Centerline is valid?  [True, True]
Translation: X:77.69, Y:-1.44, Z:14.75
[[ 9.78324199e-01 -8.11874601e-02 -1.90500284e-01  7.76879658e+01]
 [ 8.38548001e-02  9.96460106e-01  5.96909880e-03 -1.43873591e+00]
 [ 1.89341317e-01 -2.18140770e-02  9.81668993e-01  1.47521043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.84486062399999 meters
Centerline goodness : 0.996720 with order 1
Centerline is valid?  [True, True]
Translation: X:77.75, Y:-1.44, Z:14.76
[[ 9.78277067e-01 -8.17541435e-02 -1.90499977e-01  7.77490317e+01]
 [ 8.44338690e-02  9.96411147e-01  5.97888659e-03 -1.44329843e+00]
 [ 1.89327502e-01 -2.19336577e-02  9.81668993e-01  1.47641043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.904860624 meters
Centerline goodness : 0.997205 with order 1
Centerline is valid?  [True, True]
Translation: X:77.81, Y:-1.45, Z:14.78
[[ 9.78230596e-01 -8.23092728e-02 -1.90499568e-01  7.78102233e+01]
 [ 8.50017848e-02  9.96362782e-01  5.99187954e-03 -1.44909108e+00]
 [ 1.89313493e-01 -2.20542432e-02  9.81668993e-01  1.47755633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 78.964860624 meters
Centerline goodness : 0.997486 with order 1
Centerline is valid?  [True, True]
Translation: X:77.87, Y:-1.45, Z:14.79
[[ 9.78196514e-01 -8.27142826e-02 -1.90499154e-01  7.78703503e+01]
 [ 8.54168270e-02  9.96327208e-01  6.00502509e-03 -1.45471590e+00]
 [ 1.89302789e-01 -2.21459279e-02  9.81668993e-01  1.47875833e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.02486062399998 meters
Centerline goodness : 0.996927 with order 1
Centerline is valid?  [True, True]
Translation: X:77.93, Y:-1.46, Z:14.80
[[ 9.78256463e-01 -8.20027017e-02 -1.90498950e-01  7.79301677e+01]
 [ 8.46932995e-02  9.96388934e-01  6.01149298e-03 -1.45779876e+00]
 [ 1.89318087e-01 -2.20147665e-02  9.81668993e-01  1.47998519e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.08486062399999 meters
Centerline goodness : 0.996949 with order 1
Centerline is valid?  [True, True]
Translation: X:77.99, Y:-1.46, Z:14.81
[[ 9.78335972e-01 -8.10490904e-02 -1.90498745e-01  7.79894682e+01]
 [ 8.37232595e-02  9.96470872e-01  6.01798509e-03 -1.46098348e+00]
 [ 1.89338698e-01 -2.18367871e-02  9.81668993e-01  1.48120517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.14486062399999 meters
Centerline goodness : 0.996475 with order 1
Centerline is valid?  [True, True]
Translation: X:78.05, Y:-1.46, Z:14.82
[[ 9.78459644e-01 -7.95423470e-02 -1.90498661e-01  7.80487461e+01]
 [ 8.21890957e-02  9.96598567e-01  6.02064180e-03 -1.46453678e+00]
 [ 1.89371796e-01 -2.15478677e-02  9.81668993e-01  1.48241016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.20486062399999 meters
Centerline goodness : 0.996321 with order 1
Centerline is valid?  [True, True]
Translation: X:78.11, Y:-1.47, Z:14.84
[[ 9.78529413e-01 -7.86796442e-02 -1.90498558e-01  7.81097794e+01]
 [ 8.13110218e-02  9.96670573e-01  6.02387990e-03 -1.46698061e+00]
 [ 1.89390350e-01 -2.13841761e-02  9.81668993e-01  1.48365600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.264860624 meters
Centerline goodness : 0.995939 with order 1
Centerline is valid?  [True, True]
Translation: X:78.17, Y:-1.47, Z:14.85
[[ 9.78690908e-01 -7.66456876e-02 -1.90498148e-01  7.81688672e+01]
 [ 7.92418447e-02  9.96837142e-01  6.03682947e-03 -1.46909538e+00]
 [ 1.89432932e-01 -2.10036148e-02  9.81668993e-01  1.48482453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.324860624 meters
Centerline goodness : 0.995834 with order 1
Centerline is valid?  [True, True]
Translation: X:78.23, Y:-1.47, Z:14.86
[[ 9.78819492e-01 -7.49857683e-02 -1.90498127e-01  7.82273119e+01]
 [ 7.75512724e-02  9.96970084e-01  6.03748381e-03 -1.47166522e+00]
 [ 1.89468209e-01 -2.06829790e-02  9.81668993e-01  1.48570652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.38486062399998 meters
Centerline goodness : 0.996089 with order 1
Centerline is valid?  [True, True]
Translation: X:78.29, Y:-1.47, Z:14.87
[[ 9.78902293e-01 -7.38967579e-02 -1.90498213e-01  7.82880784e+01]
 [ 7.64415441e-02  9.97055802e-01  6.03476306e-03 -1.47408944e+00]
 [ 1.89491399e-01 -2.04694210e-02  9.81668993e-01  1.48697380e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.44486062399999 meters
Centerline goodness : 0.996005 with order 1
Centerline is valid?  [True, True]
Translation: X:78.35, Y:-1.48, Z:14.88
[[ 9.79002634e-01 -7.25563613e-02 -1.90497815e-01  7.83478491e+01]
 [ 7.50787016e-02  9.97159274e-01  6.04730321e-03 -1.47689450e+00]
 [ 1.89517893e-01 -2.02226544e-02  9.81668993e-01  1.48803253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.50486062399999 meters
Centerline goodness : 0.996034 with order 1
Centerline is valid?  [True, True]
Translation: X:78.41, Y:-1.48, Z:14.89
[[ 9.78983796e-01 -7.28106094e-02 -1.90497618e-01  7.84088860e+01]
 [ 7.53388579e-02  9.97139615e-01  6.05350386e-03 -1.47960560e+00]
 [ 1.89511962e-01 -2.02781552e-02  9.81668993e-01  1.48919132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.56486062399999 meters
Centerline goodness : 0.995726 with order 1
Centerline is valid?  [True, True]
Translation: X:78.47, Y:-1.48, Z:14.91
[[ 9.78870613e-01 -7.43177483e-02 -1.90497232e-01  7.84688729e+01]
 [ 7.68762765e-02  9.97022190e-01  6.06561950e-03 -1.48315384e+00]
 [ 1.89479185e-01 -2.05821746e-02  9.81668993e-01  1.49065170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.624860624 meters
Centerline goodness : 0.995579 with order 1
Centerline is valid?  [True, True]
Translation: X:78.53, Y:-1.49, Z:14.92
[[ 9.78732943e-01 -7.61103783e-02 -1.90496816e-01  7.85281267e+01]
 [ 7.87046539e-02  9.96879445e-01  6.07866231e-03 -1.48625887e+00]
 [ 1.89439711e-01 -2.09423730e-02  9.81668994e-01  1.49180935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.684860624 meters
Centerline goodness : 0.995254 with order 1
Centerline is valid?  [True, True]
Translation: X:78.59, Y:-1.49, Z:14.93
[[ 9.78499506e-01 -7.90549672e-02 -1.90496797e-01  7.85870815e+01]
 [ 8.17039479e-02  9.96638103e-01  6.07926281e-03 -1.48946065e+00]
 [ 1.89375771e-01 -2.15128960e-02  9.81668994e-01  1.49284940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.744860624 meters
Centerline goodness : 0.995019 with order 1
Centerline is valid?  [True, True]
Translation: X:78.65, Y:-1.49, Z:14.94
[[ 9.78107798e-01 -8.37621668e-02 -1.90496809e-01  7.86451555e+01]
 [ 8.64983235e-02  9.96233450e-01  6.07890706e-03 -1.49340070e+00]
 [ 1.89270110e-01 -2.24234810e-02  9.81668994e-01  1.49383771e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.80486062399999 meters
Centerline goodness : 0.995183 with order 1
Centerline is valid?  [True, True]
Translation: X:78.70, Y:-1.50, Z:14.95
[[ 9.77859407e-01 -8.66142437e-02 -1.90496594e-01  7.87046503e+01]
 [ 8.94045398e-02  9.95976804e-01  6.08563470e-03 -1.49739652e+00]
 [ 1.89203086e-01 -2.29821554e-02  9.81668994e-01  1.49496790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.86486062399999 meters
Centerline goodness : 0.994353 with order 1
Centerline is valid?  [True, True]
Translation: X:78.76, Y:-1.50, Z:14.96
[[ 9.77595910e-01 -8.95393830e-02 -1.90496552e-01  7.87637171e+01]
 [ 9.23841216e-02  9.95704837e-01  6.08694823e-03 -1.50084405e+00]
 [ 1.89133316e-01 -2.35494323e-02  9.81668994e-01  1.49615938e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.92486062399999 meters
Centerline goodness : 0.994765 with order 1
Centerline is valid?  [True, True]
Translation: X:78.82, Y:-1.50, Z:14.97
[[ 9.77495535e-01 -9.06286053e-02 -1.90496546e-01  7.88233646e+01]
 [ 9.34935530e-02  9.95601277e-01  6.08712068e-03 -1.50402939e+00]
 [ 1.89106937e-01 -2.37603322e-02  9.81668994e-01  1.49733643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 79.98486062399999 meters
Centerline goodness : 0.995033 with order 1
Centerline is valid?  [True, True]
Translation: X:78.88, Y:-1.51, Z:14.98
[[ 9.77609677e-01 -8.93891805e-02 -1.90496442e-01  7.88825979e+01]
 [ 9.22317963e-02  9.95718938e-01  6.09038480e-03 -1.50700637e+00]
 [ 1.89136500e-01 -2.35238481e-02  9.81668994e-01  1.49842681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.044860624 meters
Centerline goodness : 0.994856 with order 1
Centerline is valid?  [True, True]
Translation: X:78.94, Y:-1.51, Z:15.00
[[ 9.77779931e-01 -8.75072120e-02 -1.90496442e-01  7.89426591e+01]
 [ 9.03149639e-02  9.95894630e-01  6.09038480e-03 -1.50906216e+00]
 [ 1.89181431e-01 -2.31597353e-02  9.81668994e-01  1.49955302e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.104860624 meters
Centerline goodness : 0.994481 with order 1
Centerline is valid?  [True, True]
Translation: X:79.00, Y:-1.51, Z:15.01
[[ 9.78176078e-01 -8.29620663e-02 -1.90496339e-01  7.90024355e+01]
 [ 8.56862154e-02  9.96303538e-01  6.09358654e-03 -1.51101149e+00]
 [ 1.89286640e-01 -2.22835109e-02  9.81668994e-01  1.50080822e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.16486062399999 meters
Centerline goodness : 0.993610 with order 1
Centerline is valid?  [True, True]
Translation: X:79.06, Y:-1.51, Z:15.02
[[ 9.78511511e-01 -7.89075682e-02 -1.90496244e-01  7.90620534e+01]
 [ 8.15571414e-02  9.96650021e-01  6.09656177e-03 -1.51273435e+00]
 [ 1.89377021e-01 -2.15018850e-02  9.81668994e-01  1.50191686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.22486062399999 meters
Centerline goodness : 0.993934 with order 1
Centerline is valid?  [True, True]
Translation: X:79.12, Y:-1.51, Z:15.03
[[ 9.78932495e-01 -7.35006591e-02 -1.90496254e-01  7.91211425e+01]
 [ 7.60499271e-02  9.97085375e-01  6.09624938e-03 -1.51375995e+00]
 [ 1.89492951e-01 -2.04550429e-02  9.81668994e-01  1.50298742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.28486062399999 meters
Centerline goodness : 0.993927 with order 1
Centerline is valid?  [True, True]
Translation: X:79.18, Y:-1.51, Z:15.04
[[ 9.79130458e-01 -7.08146848e-02 -1.90496262e-01  7.91804700e+01]
 [ 7.33140927e-02  9.97290270e-01  6.09599904e-03 -1.51380633e+00]
 [ 1.89548382e-01 -1.99348390e-02  9.81668994e-01  1.50422646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.34486062399999 meters
Centerline goodness : 0.994283 with order 1
Centerline is valid?  [True, True]
Translation: X:79.24, Y:-1.51, Z:15.05
[[ 9.79339355e-01 -6.78645642e-02 -1.90496270e-01  7.92403257e+01]
 [ 7.03092051e-02  9.97506620e-01  6.09575993e-03 -1.51454730e+00]
 [ 1.89607604e-01 -1.93634589e-02  9.81668994e-01  1.50522445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.404860624 meters
Centerline goodness : 0.994687 with order 1
Centerline is valid?  [True, True]
Translation: X:79.30, Y:-1.52, Z:15.06
[[ 9.79419284e-01 -6.67011611e-02 -1.90496252e-01  7.93001201e+01]
 [ 6.91243268e-02  9.97589426e-01  6.09631766e-03 -1.51562654e+00]
 [ 1.89630415e-01 -1.91387763e-02  9.81668994e-01  1.50618401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.464860624 meters
Centerline goodness : 0.994199 with order 1
Centerline is valid?  [True, True]
Translation: X:79.36, Y:-1.52, Z:15.07
[[ 9.79405626e-01 -6.69031564e-02 -1.90495634e-01  7.93594753e+01]
 [ 6.93337747e-02  9.97574773e-01  6.11556272e-03 -1.51536180e+00]
 [ 1.89624489e-01 -1.91973979e-02  9.81668994e-01  1.50725200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.52486062399998 meters
Centerline goodness : 0.994497 with order 1
Centerline is valid?  [True, True]
Translation: X:79.42, Y:-1.52, Z:15.09
[[ 9.79273094e-01 -6.88161259e-02 -1.90495534e-01  7.94192489e+01]
 [ 7.12828309e-02  9.97437376e-01  6.11868604e-03 -1.51664271e+00]
 [ 1.89586301e-01 -1.95709255e-02  9.81668994e-01  1.50858814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.58486062399999 meters
Centerline goodness : 0.994188 with order 1
Centerline is valid?  [True, True]
Translation: X:79.48, Y:-1.52, Z:15.10
[[ 9.79089824e-01 -7.13767946e-02 -1.90495325e-01  7.94783228e+01]
 [ 7.38922399e-02  9.97247421e-01  6.12516776e-03 -1.51893898e+00]
 [ 1.89533777e-01 -2.00732157e-02  9.81668994e-01  1.50970338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.64486062399999 meters
Centerline goodness : 0.994546 with order 1
Centerline is valid?  [True, True]
Translation: X:79.54, Y:-1.52, Z:15.11
[[ 9.78827532e-01 -7.48878725e-02 -1.90495327e-01  7.95383905e+01]
 [ 7.74684144e-02  9.96975992e-01  6.12511550e-03 -1.52088031e+00]
 [ 1.89460571e-01 -2.07528026e-02  9.81668994e-01  1.51093736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.70486062399999 meters
Centerline goodness : 0.994904 with order 1
Centerline is valid?  [True, True]
Translation: X:79.60, Y:-1.52, Z:15.12
[[ 9.78624069e-01 -7.75018187e-02 -1.90495145e-01  7.95979706e+01]
 [ 8.01319106e-02  9.96765414e-01  6.13078113e-03 -1.52247092e+00]
 [ 1.89403825e-01 -2.12644699e-02  9.81668994e-01  1.51215385e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.764860624 meters
Centerline goodness : 0.994757 with order 1
Centerline is valid?  [True, True]
Translation: X:79.66, Y:-1.52, Z:15.13
[[ 9.78536026e-01 -7.86061733e-02 -1.90494921e-01  7.96580625e+01]
 [ 8.12580710e-02  9.96674197e-01  6.13772402e-03 -1.52291432e+00]
 [ 1.89378909e-01 -2.14852339e-02  9.81668994e-01  1.51324095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.824860624 meters
Centerline goodness : 0.994965 with order 1
Centerline is valid?  [True, True]
Translation: X:79.72, Y:-1.52, Z:15.14
[[ 9.78691461e-01 -7.66469153e-02 -1.90494817e-01  7.97173860e+01]
 [ 7.92631172e-02  9.96834814e-01  6.14096726e-03 -1.52338265e+00]
 [ 1.89421179e-01 -2.11093252e-02  9.81668994e-01  1.51443849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.88486062399998 meters
Centerline goodness : 0.994810 with order 1
Centerline is valid?  [True, True]
Translation: X:79.78, Y:-1.52, Z:15.16
[[ 9.78989883e-01 -7.27361660e-02 -1.90494776e-01  7.97757163e+01]
 [ 7.52801000e-02  9.97143510e-01  6.14221769e-03 -1.52227866e+00]
 [ 1.89503868e-01 -2.03536348e-02  9.81668994e-01  1.51553666e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 80.94486062399999 meters
Centerline goodness : 0.995284 with order 1
Centerline is valid?  [True, True]
Translation: X:79.83, Y:-1.52, Z:15.17
[[ 9.79675109e-01 -6.28362352e-02 -1.90494851e-01  7.98349827e+01]
 [ 6.51960854e-02  9.97853582e-01  6.13990186e-03 -1.51766241e+00]
 [ 1.89700161e-01 -1.84346276e-02  9.81668994e-01  1.51666223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.00486062399999 meters
Centerline goodness : 0.995718 with order 1
Centerline is valid?  [True, True]
Translation: X:79.89, Y:-1.51, Z:15.18
[[ 9.80149739e-01 -5.49382811e-02 -1.90494815e-01  7.98946110e+01]
 [ 5.71517549e-02  9.98346616e-01  6.14101021e-03 -1.51434738e+00]
 [ 1.89842477e-01 -1.69062225e-02  9.81668994e-01  1.51795828e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.06486062399999 meters
Centerline goodness : 0.995246 with order 1
Centerline is valid?  [True, True]
Translation: X:79.95, Y:-1.51, Z:15.19
[[ 9.80402527e-01 -5.02257547e-02 -1.90494775e-01  7.99531977e+01]
 [ 5.23519638e-02  9.98609806e-01  6.14224980e-03 -1.51416478e+00]
 [ 1.89921451e-01 -1.59946528e-02  9.81668994e-01  1.51890924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.124860624 meters
Centerline goodness : 0.995568 with order 1
Centerline is valid?  [True, True]
Translation: X:80.01, Y:-1.51, Z:15.20
[[ 9.80909672e-01 -3.90886170e-02 -1.90494872e-01  8.00120164e+01]
 [ 4.10073373e-02  9.99139984e-01  6.13923913e-03 -1.50780449e+00]
 [ 1.90091069e-01 -1.38337265e-02  9.81668994e-01  1.51994670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.184860624 meters
Centerline goodness : 0.994909 with order 1
Centerline is valid?  [True, True]
Translation: X:80.07, Y:-1.50, Z:15.21
[[ 9.81086463e-01 -3.43657551e-02 -1.90495006e-01  8.00709999e+01]
 [ 3.61958834e-02  9.99325882e-01  6.13508288e-03 -1.50360077e+00]
 [ 1.90155753e-01 -1.29141818e-02  9.81668994e-01  1.52125678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.24486062399998 meters
Centerline goodness : 0.995431 with order 1
Centerline is valid?  [True, True]
Translation: X:80.13, Y:-1.50, Z:15.22
[[ 9.81158730e-01 -3.22362102e-02 -1.90495072e-01  8.01283606e+01]
 [ 3.40263473e-02  9.99402118e-01  6.13302491e-03 -1.49868965e+00]
 [ 1.90183473e-01 -1.24993224e-02  9.81668994e-01  1.52239294e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.30486062399999 meters
Centerline goodness : 0.995367 with order 1
Centerline is valid?  [True, True]
Translation: X:80.19, Y:-1.50, Z:15.23
[[ 9.81113225e-01 -3.35835057e-02 -1.90496689e-01  8.01858480e+01]
 [ 3.53889095e-02  9.99355107e-01  6.08241130e-03 -1.49710288e+00]
 [ 1.90169570e-01 -1.27090042e-02  9.81668995e-01  1.52330904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.36486062399999 meters
Centerline goodness : 0.996016 with order 1
Centerline is valid?  [True, True]
Translation: X:80.24, Y:-1.49, Z:15.24
[[ 9.80906048e-01 -3.91681970e-02 -1.90497184e-01  8.02449826e+01]
 [ 4.10744151e-02  9.99137671e-01  6.06686668e-03 -1.49409930e+00]
 [ 1.90095284e-01 -1.37755866e-02  9.81668995e-01  1.52446100e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.42486062399999 meters
Centerline goodness : 0.995502 with order 1
Centerline is valid?  [True, True]
Translation: X:80.30, Y:-1.49, Z:15.26
[[ 9.80736804e-01 -4.31988549e-02 -1.90497193e-01  8.03046049e+01]
 [ 4.51799198e-02  9.98960446e-01  6.06656057e-03 -1.49403837e+00]
 [ 1.90037093e-01 -1.45563471e-02  9.81668995e-01  1.52568177e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.48486062399999 meters
Centerline goodness : 0.995622 with order 1
Centerline is valid?  [True, True]
Translation: X:80.36, Y:-1.49, Z:15.27
[[ 9.80375026e-01 -5.07506208e-02 -1.90497201e-01  8.03633879e+01]
 [ 5.28719287e-02  9.98582875e-01  6.06632345e-03 -1.49331192e+00]
 [ 1.89919373e-01 -1.60192264e-02  9.81668995e-01  1.52682388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.544860624 meters
Centerline goodness : 0.996559 with order 1
Centerline is valid?  [True, True]
Translation: X:80.42, Y:-1.49, Z:15.28
[[ 9.80096201e-01 -5.58768652e-02 -1.90497279e-01  8.04226037e+01]
 [ 5.80928930e-02  9.98292765e-01  6.06388438e-03 -1.49329620e+00]
 [ 1.89833224e-01 -1.70097281e-02  9.81668995e-01  1.52796621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.604860624 meters
Centerline goodness : 0.996276 with order 1
Centerline is valid?  [True, True]
Translation: X:80.48, Y:-1.49, Z:15.29
[[ 9.79713926e-01 -6.22206733e-02 -1.90497275e-01  8.04819286e+01]
 [ 6.45544758e-02  9.97895760e-01  6.06398609e-03 -1.49387243e+00]
 [ 1.89719118e-01 -1.82384234e-02  9.81668995e-01  1.52895436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.66486062399999 meters
Centerline goodness : 0.996862 with order 1
Centerline is valid?  [True, True]
Translation: X:80.54, Y:-1.49, Z:15.30
[[ 9.79497307e-01 -6.55422412e-02 -1.90497349e-01  8.05415712e+01]
 [ 6.79372328e-02  9.97671183e-01  6.06166617e-03 -1.49429432e+00]
 [ 1.89656420e-01 -1.88792485e-02  9.81668995e-01  1.53007690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.72486062399999 meters
Centerline goodness : 0.996173 with order 1
Centerline is valid?  [True, True]
Translation: X:80.60, Y:-1.49, Z:15.31
[[ 9.79272355e-01 -6.88217655e-02 -1.90497293e-01  8.06011905e+01]
 [ 7.12779421e-02  9.97438063e-01  6.06344476e-03 -1.49304883e+00]
 [ 1.89591954e-01 -1.95160188e-02  9.81668995e-01  1.53132367e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.78486062399999 meters
Centerline goodness : 0.996204 with order 1
Centerline is valid?  [True, True]
Translation: X:80.66, Y:-1.49, Z:15.33
[[ 9.79163202e-01 -7.03578512e-02 -1.90497237e-01  8.06607045e+01]
 [ 7.28428598e-02  9.97324988e-01  6.06520463e-03 -1.49471132e+00]
 [ 1.89560919e-01 -1.98151887e-02  9.81668995e-01  1.53256966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.84486062399999 meters
Centerline goodness : 0.996470 with order 1
Centerline is valid?  [True, True]
Translation: X:80.72, Y:-1.50, Z:15.34
[[ 9.79018221e-01 -7.23477406e-02 -1.90497056e-01  8.07209258e+01]
 [ 7.48707462e-02  9.97174767e-01  6.07087228e-03 -1.49694177e+00]
 [ 1.89519643e-01 -2.02061513e-02  9.81668995e-01  1.53373999e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.904860624 meters
Centerline goodness : 0.996586 with order 1
Centerline is valid?  [True, True]
Translation: X:80.78, Y:-1.50, Z:15.35
[[ 9.78673947e-01 -7.68651775e-02 -1.90496852e-01  8.07794828e+01]
 [ 7.94731794e-02  9.96818479e-01  6.07726990e-03 -1.49856020e+00]
 [ 1.89423652e-01 -2.10870562e-02  9.81668995e-01  1.53481595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 81.964860624 meters
Centerline goodness : 0.996285 with order 1
Centerline is valid?  [True, True]
Translation: X:80.84, Y:-1.50, Z:15.36
[[ 9.78428542e-01 -7.99281180e-02 -1.90496942e-01  8.08389432e+01]
 [ 8.25923554e-02  9.96564902e-01  6.07443225e-03 -1.50181493e+00]
 [ 1.89357049e-01 -2.16769891e-02  9.81668995e-01  1.53587543e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.02486062399998 meters
Centerline goodness : 0.996430 with order 1
Centerline is valid?  [True, True]
Translation: X:80.90, Y:-1.51, Z:15.37
[[ 9.78081056e-01 -8.40735959e-02 -1.90496924e-01  8.08987584e+01]
 [ 8.68147718e-02  9.96205948e-01  6.07499259e-03 -1.50645471e+00]
 [ 1.89263423e-01 -2.24797822e-02  9.81668995e-01  1.53690464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.08486062399999 meters
Centerline goodness : 0.996554 with order 1
Centerline is valid?  [True, True]
Translation: X:80.96, Y:-1.51, Z:15.38
[[ 9.77928010e-01 -8.58355434e-02 -1.90496894e-01  8.09585554e+01]
 [ 8.86095494e-02  9.96047906e-01  6.07593642e-03 -1.50907364e+00]
 [ 1.89222501e-01 -2.28216724e-02  9.81668995e-01  1.53825256e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.14486062399999 meters
Centerline goodness : 0.996777 with order 1
Centerline is valid?  [True, True]
Translation: X:81.02, Y:-1.51, Z:15.39
[[ 9.77901575e-01 -8.61366406e-02 -1.90496690e-01  8.10170849e+01]
 [ 8.89174563e-02  9.96020427e-01  6.08234710e-03 -1.51299250e+00]
 [ 1.89214681e-01 -2.28864179e-02  9.81668995e-01  1.53919761e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.20486062399999 meters
Centerline goodness : 0.996716 with order 1
Centerline is valid?  [True, True]
Translation: X:81.08, Y:-1.52, Z:15.40
[[ 9.77903390e-01 -8.61158481e-02 -1.90496771e-01  8.10776496e+01]
 [ 8.88957890e-02  9.96022377e-01  6.07979729e-03 -1.51884780e+00]
 [ 1.89215480e-01 -2.28798151e-02  9.81668995e-01  1.54043943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.264860624 meters
Centerline goodness : 0.997019 with order 1
Centerline is valid?  [True, True]
Translation: X:81.14, Y:-1.52, Z:15.42
[[ 9.77955523e-01 -8.55224439e-02 -1.90496472e-01  8.11369838e+01]
 [ 8.82931884e-02  9.96075918e-01  6.08916529e-03 -1.52295401e+00]
 [ 1.89228188e-01 -2.27744737e-02  9.81668995e-01  1.54178739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.324860624 meters
Centerline goodness : 0.996653 with order 1
Centerline is valid?  [True, True]
Translation: X:81.20, Y:-1.53, Z:15.43
[[ 9.78082426e-01 -8.40589155e-02 -1.90496370e-01  8.11977716e+01]
 [ 8.68031527e-02  9.96206854e-01  6.09234904e-03 -1.52677119e+00]
 [ 1.89261673e-01 -2.24945050e-02  9.81668995e-01  1.54275802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.38486062399998 meters
Centerline goodness : 0.996781 with order 1
Centerline is valid?  [True, True]
Translation: X:81.26, Y:-1.53, Z:15.44
[[ 9.78215652e-01 -8.24947654e-02 -1.90496068e-01  8.12582800e+01]
 [ 8.52118239e-02  9.96344174e-01  6.10175826e-03 -1.53044805e+00]
 [ 1.89296285e-01 -2.22013529e-02  9.81668995e-01  1.54382554e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.44486062399999 meters
Centerline goodness : 0.996340 with order 1
Centerline is valid?  [True, True]
Translation: X:81.32, Y:-1.53, Z:15.45
[[ 9.78401084e-01 -8.02660353e-02 -1.90495883e-01  8.13178069e+01]
 [ 8.29428968e-02  9.96535586e-01  6.10753174e-03 -1.53415901e+00]
 [ 1.89345699e-01 -2.17758961e-02  9.81668995e-01  1.54503920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.50486062399999 meters
Centerline goodness : 0.996347 with order 1
Centerline is valid?  [True, True]
Translation: X:81.38, Y:-1.54, Z:15.46
[[ 9.78529468e-01 -7.86856570e-02 -1.90495793e-01  8.13777209e+01]
 [ 8.13337677e-02  9.96668190e-01  6.11035629e-03 -1.53773503e+00]
 [ 1.89380300e-01 -2.14729042e-02  9.81668995e-01  1.54613782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.56486062399999 meters
Centerline goodness : 0.995809 with order 1
Centerline is valid?  [True, True]
Translation: X:81.44, Y:-1.54, Z:15.47
[[ 9.78646259e-01 -7.72195886e-02 -1.90495761e-01  8.14383750e+01]
 [ 7.98407139e-02  9.96788900e-01  6.11135482e-03 -1.54234504e+00]
 [ 1.89412143e-01 -2.11901721e-02  9.81668995e-01  1.54736939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.624860624 meters
Centerline goodness : 0.995869 with order 1
Centerline is valid?  [True, True]
Translation: X:81.50, Y:-1.55, Z:15.48
[[ 9.78617930e-01 -7.75787532e-02 -1.90495364e-01  8.14981609e+01]
 [ 8.02089091e-02  9.96759264e-01  6.12369560e-03 -1.54643967e+00]
 [ 1.89402950e-01 -2.12721836e-02  9.81668995e-01  1.54849188e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.684860624 meters
Centerline goodness : 0.996609 with order 1
Centerline is valid?  [True, True]
Translation: X:81.56, Y:-1.55, Z:15.50
[[ 9.78572554e-01 -7.81495148e-02 -1.90495169e-01  8.15580402e+01]
 [ 8.07914128e-02  9.96712182e-01  6.12973961e-03 -1.55359420e+00]
 [ 1.89389820e-01 -2.13887688e-02  9.81668995e-01  1.55006265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.74486062399998 meters
Centerline goodness : 0.996434 with order 1
Centerline is valid?  [True, True]
Translation: X:81.62, Y:-1.56, Z:15.51
[[ 9.78513080e-01 -7.88917163e-02 -1.90494751e-01  8.16191890e+01]
 [ 8.15498659e-02  9.96650333e-01  6.14271564e-03 -1.55880446e+00]
 [ 1.89372048e-01 -2.15455490e-02  9.81668996e-01  1.55119966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.80486062399999 meters
Centerline goodness : 0.996346 with order 1
Centerline is valid?  [True, True]
Translation: X:81.68, Y:-1.57, Z:15.52
[[ 9.78437309e-01 -7.98269500e-02 -1.90494331e-01  8.16802924e+01]
 [ 8.25049341e-02  9.96571645e-01  6.15572618e-03 -1.56609310e+00]
 [ 1.89349856e-01 -2.17397144e-02  9.81668996e-01  1.55221134e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.86486062399999 meters
Centerline goodness : 0.995885 with order 1
Centerline is valid?  [True, True]
Translation: X:81.74, Y:-1.57, Z:15.53
[[ 9.78383773e-01 -8.04814595e-02 -1.90493905e-01  8.17391194e+01]
 [ 8.31740975e-02  9.96515938e-01  6.16885960e-03 -1.57110044e+00]
 [ 1.89333734e-01 -2.18796708e-02  9.81668996e-01  1.55326800e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.92486062399999 meters
Centerline goodness : 0.996523 with order 1
Centerline is valid?  [True, True]
Translation: X:81.80, Y:-1.58, Z:15.55
[[ 9.78333730e-01 -8.10875118e-02 -1.90493905e-01  8.17997158e+01]
 [ 8.37913813e-02  9.96464224e-01  6.16885960e-03 -1.57864962e+00]
 [ 1.89320144e-01 -2.19969509e-02  9.81668996e-01  1.55461267e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 82.98486062399999 meters
Centerline goodness : 0.996393 with order 1
Centerline is valid?  [True, True]
Translation: X:81.86, Y:-1.58, Z:15.56
[[ 9.78372207e-01 -8.06229303e-02 -1.90493485e-01  8.18609001e+01]
 [ 8.33206792e-02  9.96503612e-01  6.18181522e-03 -1.58227442e+00]
 [ 1.89329050e-01 -2.19201627e-02  9.81668996e-01  1.55581452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.044860624 meters
Centerline goodness : 0.996779 with order 1
Centerline is valid?  [True, True]
Translation: X:81.92, Y:-1.59, Z:15.57
[[ 9.78470978e-01 -7.94162341e-02 -1.90493063e-01  8.19224595e+01]
 [ 8.20941140e-02  9.96605329e-01  6.19479753e-03 -1.58669997e+00]
 [ 1.89354434e-01 -2.16997888e-02  9.81668996e-01  1.55697121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.104860624 meters
Centerline goodness : 0.997008 with order 1
Centerline is valid?  [True, True]
Translation: X:81.98, Y:-1.59, Z:15.58
[[ 9.78803482e-01 -7.52089144e-02 -1.90492424e-01  8.19817716e+01]
 [ 7.78125712e-02  9.96948637e-01  6.21437222e-03 -1.59002351e+00]
 [ 1.89443787e-01 -2.09053545e-02  9.81668996e-01  1.55814882e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.16486062399999 meters
Centerline goodness : 0.996589 with order 1
Centerline is valid?  [True, True]
Translation: X:82.04, Y:-1.59, Z:15.59
[[ 9.79016696e-01 -7.23806802e-02 -1.90492379e-01  8.20408984e+01]
 [ 7.49321702e-02  9.97169261e-01  6.21576735e-03 -1.59367163e+00]
 [ 1.89503243e-01 -2.03593474e-02  9.81668996e-01  1.55934581e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.22486062399999 meters
Centerline goodness : 0.997106 with order 1
Centerline is valid?  [True, True]
Translation: X:82.10, Y:-1.60, Z:15.61
[[ 9.79200390e-01 -6.98515902e-02 -1.90492391e-01  8.20995074e+01]
 [ 7.23561091e-02  9.97359495e-01  6.21538464e-03 -1.59722434e+00]
 [ 1.89555241e-01 -1.98693953e-02  9.81668996e-01  1.56055001e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.28486062399999 meters
Centerline goodness : 0.996907 with order 1
Centerline is valid?  [True, True]
Translation: X:82.16, Y:-1.60, Z:15.62
[[ 9.79314690e-01 -6.82301629e-02 -1.90492472e-01  8.21578093e+01]
 [ 7.07041322e-02  9.97477983e-01  6.21289684e-03 -1.59988004e+00]
 [ 1.89588140e-01 -1.95529861e-02  9.81668996e-01  1.56159943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.34486062399999 meters
Centerline goodness : 0.997353 with order 1
Centerline is valid?  [True, True]
Translation: X:82.22, Y:-1.60, Z:15.63
[[ 9.79377318e-01 -6.73248845e-02 -1.90492594e-01  8.22183991e+01]
 [ 6.97813440e-02  9.97542987e-01  6.20916082e-03 -1.60320570e+00]
 [ 1.89606520e-01 -1.93739405e-02  9.81668996e-01  1.56279917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.404860624 meters
Centerline goodness : 0.997111 with order 1
Centerline is valid?  [True, True]
Translation: X:82.28, Y:-1.61, Z:15.64
[[ 9.79404208e-01 -6.69337794e-02 -1.90492172e-01  8.22794110e+01]
 [ 6.93854753e-02  9.97570519e-01  6.22209986e-03 -1.60639376e+00]
 [ 1.89612906e-01 -1.93113406e-02  9.81668996e-01  1.56390889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.464860624 meters
Centerline goodness : 0.997222 with order 1
Centerline is valid?  [True, True]
Translation: X:82.34, Y:-1.61, Z:15.65
[[ 9.79407679e-01 -6.68841831e-02 -1.90491746e-01  8.23406241e+01]
 [ 6.93374632e-02  9.97573777e-01  6.23510891e-03 -1.60834635e+00]
 [ 1.89612540e-01 -1.93149280e-02  9.81668996e-01  1.56508829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.52486062399998 meters
Centerline goodness : 0.997047 with order 1
Centerline is valid?  [True, True]
Translation: X:82.40, Y:-1.61, Z:15.66
[[ 9.79389132e-01 -6.71564152e-02 -1.90491325e-01  8.24017428e+01]
 [ 6.96172132e-02  9.97554213e-01  6.24793356e-03 -1.61038717e+00]
 [ 1.89605835e-01 -1.93806334e-02  9.81668996e-01  1.56636027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.58486062399999 meters
Centerline goodness : 0.997113 with order 1
Centerline is valid?  [True, True]
Translation: X:82.46, Y:-1.61, Z:15.67
[[ 9.79321681e-01 -6.81341370e-02 -1.90490902e-01  8.24623186e+01]
 [ 7.06155469e-02  9.97483958e-01  6.26081065e-03 -1.61266190e+00]
 [ 1.89585044e-01 -1.95829668e-02  9.81668996e-01  1.56746679e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.64486062399999 meters
Centerline goodness : 0.997008 with order 1
Centerline is valid?  [True, True]
Translation: X:82.52, Y:-1.61, Z:15.69
[[ 9.79210175e-01 -6.97201798e-02 -1.90490235e-01  8.25224339e+01]
 [ 7.22348954e-02  9.97367870e-01  6.28104282e-03 -1.61483669e+00]
 [ 1.89550924e-01 -1.99105032e-02  9.81668997e-01  1.56862444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.70486062399999 meters
Centerline goodness : 0.997046 with order 1
Centerline is valid?  [True, True]
Translation: X:82.58, Y:-1.62, Z:15.70
[[ 9.79123742e-01 -7.09239709e-02 -1.90490128e-01  8.25823546e+01]
 [ 7.34616287e-02  9.97278245e-01  6.28427077e-03 -1.61570833e+00]
 [ 1.89525955e-01 -2.01467938e-02  9.81668997e-01  1.56968498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.764860624 meters
Centerline goodness : 0.997085 with order 1
Centerline is valid?  [True, True]
Translation: X:82.64, Y:-1.62, Z:15.71
[[ 9.78927703e-01 -7.35808688e-02 -1.90489917e-01  8.26419799e+01]
 [ 7.61690150e-02  9.97075077e-01  6.29066593e-03 -1.61557702e+00]
 [ 1.89469876e-01 -2.06675365e-02  9.81668997e-01  1.57089578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.824860624 meters
Centerline goodness : 0.996681 with order 1
Centerline is valid?  [True, True]
Translation: X:82.70, Y:-1.62, Z:15.72
[[ 9.78814979e-01 -7.50658725e-02 -1.90489766e-01  8.27006326e+01]
 [ 7.76824281e-02  9.96958279e-01  6.29525232e-03 -1.61625593e+00]
 [ 1.89437790e-01 -2.09595948e-02  9.81668997e-01  1.57205633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.88486062399998 meters
Centerline goodness : 0.996895 with order 1
Centerline is valid?  [True, True]
Translation: X:82.76, Y:-1.62, Z:15.73
[[ 9.78804894e-01 -7.51984660e-02 -1.90489292e-01  8.27619819e+01]
 [ 7.78202291e-02  9.96947442e-01  6.30955542e-03 -1.61628667e+00]
 [ 1.89433343e-01 -2.09997440e-02  9.81668997e-01  1.57328467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 83.94486062399999 meters
Centerline goodness : 0.996874 with order 1
Centerline is valid?  [True, True]
Translation: X:82.82, Y:-1.62, Z:15.75
[[ 9.78847339e-01 -7.46449810e-02 -1.90488879e-01  8.28211213e+01]
 [ 7.72588739e-02  9.96991023e-01  6.32198170e-03 -1.61620779e+00]
 [ 1.89443798e-01 -2.09052113e-02  9.81668997e-01  1.57455461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.00486062399999 meters
Centerline goodness : 0.996667 with order 1
Centerline is valid?  [True, True]
Translation: X:82.88, Y:-1.62, Z:15.76
[[ 9.78895311e-01 -7.40132242e-02 -1.90488879e-01  8.28816572e+01]
 [ 7.66154067e-02  9.97040677e-01  6.32198170e-03 -1.61613815e+00]
 [ 1.89457251e-01 -2.07829412e-02  9.81668997e-01  1.57571320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.06486062399999 meters
Centerline goodness : 0.996820 with order 1
Centerline is valid?  [True, True]
Translation: X:82.94, Y:-1.62, Z:15.77
[[ 9.78865744e-01 -7.44040715e-02 -1.90488554e-01  8.29414328e+01]
 [ 7.70153786e-02  9.97009800e-01  6.33175796e-03 -1.61767401e+00]
 [ 1.89447847e-01 -2.08684891e-02  9.81668997e-01  1.57682524e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.124860624 meters
Centerline goodness : 0.996483 with order 1
Centerline is valid?  [True, True]
Translation: X:83.00, Y:-1.62, Z:15.78
[[ 9.78822765e-01 -7.49674141e-02 -1.90488534e-01  8.30007601e+01]
 [ 7.75892839e-02  9.96965297e-01  6.33238716e-03 -1.61808457e+00]
 [ 1.89435735e-01 -2.09781536e-02  9.81668997e-01  1.57800790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.184860624 meters
Centerline goodness : 0.997015 with order 1
Centerline is valid?  [True, True]
Translation: X:83.06, Y:-1.62, Z:15.79
[[ 9.78724799e-01 -7.62357284e-02 -1.90488534e-01  8.30601603e+01]
 [ 7.88811054e-02  9.96863919e-01  6.33238716e-03 -1.61778460e+00]
 [ 1.89408392e-01 -2.12236104e-02  9.81668997e-01  1.57919458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.24486062399998 meters
Centerline goodness : 0.996906 with order 1
Centerline is valid?  [True, True]
Translation: X:83.12, Y:-1.62, Z:15.80
[[ 9.78633388e-01 -7.74003635e-02 -1.90488519e-01  8.31207924e+01]
 [ 8.00674060e-02  9.96769334e-01  6.33281196e-03 -1.61975500e+00]
 [ 1.89382953e-01 -2.14494229e-02  9.81668997e-01  1.58016681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.30486062399999 meters
Centerline goodness : 0.997006 with order 1
Centerline is valid?  [True, True]
Translation: X:83.18, Y:-1.62, Z:15.82
[[ 9.78521736e-01 -7.88001150e-02 -1.90488198e-01  8.31808162e+01]
 [ 8.14949490e-02  9.96653574e-01  6.34245432e-03 -1.61886876e+00]
 [ 1.89350958e-01 -2.17300554e-02  9.81668997e-01  1.58156967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.36486062399999 meters
Centerline goodness : 0.997408 with order 1
Centerline is valid?  [True, True]
Translation: X:83.24, Y:-1.62, Z:15.83
[[ 9.78477632e-01 -7.93464069e-02 -1.90487984e-01  8.32409389e+01]
 [ 8.20526013e-02  9.96607777e-01  6.34889783e-03 -1.61933694e+00]
 [ 1.89338044e-01 -2.18422891e-02  9.81668997e-01  1.58281237e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.42486062399999 meters
Centerline goodness : 0.997718 with order 1
Centerline is valid?  [True, True]
Translation: X:83.30, Y:-1.62, Z:15.84
[[ 9.78491718e-01 -7.91730362e-02 -1.90487766e-01  8.33013755e+01]
 [ 8.18772698e-02  9.96622156e-01  6.35541254e-03 -1.61889653e+00]
 [ 1.89341151e-01 -2.18153368e-02  9.81668997e-01  1.58383175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.48486062399999 meters
Centerline goodness : 0.997823 with order 1
Centerline is valid?  [True, True]
Translation: X:83.36, Y:-1.62, Z:15.85
[[ 9.78502624e-01 -7.90400150e-02 -1.90486985e-01  8.33628783e+01]
 [ 8.17462687e-02  9.96632760e-01  6.37875623e-03 -1.61951434e+00]
 [ 1.89341392e-01 -2.18132299e-02  9.81668997e-01  1.58491365e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.544860624 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:83.42, Y:-1.62, Z:15.86
[[ 9.78573739e-01 -7.81556483e-02 -1.90486564e-01  8.34235521e+01]
 [ 8.08479219e-02  9.96705957e-01  6.39128018e-03 -1.62048928e+00]
 [ 1.89359579e-01 -2.16547818e-02  9.81668997e-01  1.58612866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.60486062399998 meters
Centerline goodness : 0.998092 with order 1
Centerline is valid?  [True, True]
Translation: X:83.48, Y:-1.62, Z:15.87
[[ 9.78693108e-01 -7.66472048e-02 -1.90486237e-01  8.34838210e+01]
 [ 7.93134006e-02  9.96829179e-01  6.40103130e-03 -1.62031895e+00]
 [ 1.89391618e-01 -2.13727564e-02  9.81668997e-01  1.58745764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.66486062399999 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:83.54, Y:-1.62, Z:15.89
[[ 9.78696086e-01 -7.66099807e-02 -1.90485912e-01  8.35437257e+01]
 [ 7.92773404e-02  9.96831985e-01  6.41067674e-03 -1.62139951e+00]
 [ 1.89391328e-01 -2.13753207e-02  9.81668997e-01  1.58872859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.72486062399999 meters
Centerline goodness : 0.998065 with order 1
Centerline is valid?  [True, True]
Translation: X:83.60, Y:-1.62, Z:15.90
[[ 9.78583325e-01 -7.80376659e-02 -1.90485694e-01  8.36033927e+01]
 [ 8.07327273e-02  9.96715128e-01  6.41716703e-03 -1.62372408e+00]
 [ 1.89359192e-01 -2.16581622e-02  9.81668997e-01  1.58991351e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.78486062399999 meters
Centerline goodness : 0.998269 with order 1
Centerline is valid?  [True, True]
Translation: X:83.66, Y:-1.63, Z:15.91
[[ 9.78464086e-01 -7.95190229e-02 -1.90485583e-01  8.36627223e+01]
 [ 8.22421597e-02  9.96591694e-01  6.42044328e-03 -1.62550813e+00]
 [ 1.89325803e-01 -2.19481189e-02  9.81668997e-01  1.59098500e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.84486062399999 meters
Centerline goodness : 0.998172 with order 1
Centerline is valid?  [True, True]
Translation: X:83.72, Y:-1.63, Z:15.92
[[ 9.78282431e-01 -8.17237375e-02 -1.90485474e-01  8.37219783e+01]
 [ 8.44883374e-02  9.96403762e-01  6.42367399e-03 -1.62647989e+00]
 [ 1.89275476e-01 -2.23779684e-02  9.81668997e-01  1.59218940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.904860624 meters
Centerline goodness : 0.998106 with order 1
Centerline is valid?  [True, True]
Translation: X:83.78, Y:-1.63, Z:15.93
[[ 9.78232409e-01 -8.23203784e-02 -1.90485455e-01  8.37823611e+01]
 [ 8.50961369e-02  9.96352035e-01  6.42423068e-03 -1.62812431e+00]
 [ 1.89261726e-01 -2.24939670e-02  9.81668997e-01  1.59326804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 84.964860624 meters
Centerline goodness : 0.998127 with order 1
Centerline is valid?  [True, True]
Translation: X:83.84, Y:-1.63, Z:15.94
[[ 9.78136350e-01 -8.34547598e-02 -1.90485128e-01  8.38420751e+01]
 [ 8.62533911e-02  9.96252457e-01  6.43392844e-03 -1.62932671e+00]
 [ 1.89234335e-01 -2.27232475e-02  9.81668997e-01  1.59439749e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.02486062399998 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:83.90, Y:-1.63, Z:15.96
[[ 9.78128242e-01 -8.35499879e-02 -1.90485019e-01  8.39029440e+01]
 [ 8.63509999e-02  9.96243980e-01  6.43714249e-03 -1.62889936e+00]
 [ 1.89231731e-01 -2.27449227e-02  9.81668997e-01  1.59575954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.08486062399999 meters
Centerline goodness : 0.998016 with order 1
Centerline is valid?  [True, True]
Translation: X:83.96, Y:-1.63, Z:15.97
[[ 9.78239179e-01 -8.22419338e-02 -1.90484572e-01  8.39628323e+01]
 [ 8.50212521e-02  9.96358259e-01  6.45033825e-03 -1.62808484e+00]
 [ 1.89260389e-01 -2.25052105e-02  9.81668998e-01  1.59677009e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.14486062399999 meters
Centerline goodness : 0.997498 with order 1
Centerline is valid?  [True, True]
Translation: X:84.02, Y:-1.63, Z:15.98
[[ 9.78330029e-01 -8.11545756e-02 -1.90484352e-01  8.40219388e+01]
 [ 8.39150021e-02  9.96451997e-01  6.45684326e-03 -1.62795263e+00]
 [ 1.89284510e-01 -2.23014184e-02  9.81668998e-01  1.59812194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.20486062399999 meters
Centerline goodness : 0.997625 with order 1
Centerline is valid?  [True, True]
Translation: X:84.08, Y:-1.63, Z:15.99
[[ 9.78567712e-01 -7.82367346e-02 -1.90484239e-01  8.40818500e+01]
 [ 8.09437446e-02  9.96697736e-01  6.46016015e-03 -1.62614589e+00]
 [ 1.89349788e-01 -2.17402118e-02  9.81668998e-01  1.59934885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.264860624 meters
Centerline goodness : 0.997457 with order 1
Centerline is valid?  [True, True]
Translation: X:84.14, Y:-1.63, Z:16.01
[[ 9.78702911e-01 -7.65271753e-02 -1.90484129e-01  8.41418323e+01]
 [ 7.92031371e-02  9.96837543e-01  6.46342275e-03 -1.62666526e+00]
 [ 1.89387103e-01 -2.14127112e-02  9.81668998e-01  1.60052738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.324860624 meters
Centerline goodness : 0.997619 with order 1
Centerline is valid?  [True, True]
Translation: X:84.20, Y:-1.63, Z:16.02
[[ 9.78751920e-01 -7.58980798e-02 -1.90484017e-01  8.42002757e+01]
 [ 7.85630196e-02  9.96888175e-01  6.46672669e-03 -1.62808703e+00]
 [ 1.89400451e-01 -2.12943207e-02  9.81668998e-01  1.60150827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.38486062399998 meters
Centerline goodness : 0.997474 with order 1
Centerline is valid?  [True, True]
Translation: X:84.26, Y:-1.63, Z:16.03
[[ 9.78760874e-01 -7.57822466e-02 -1.90484126e-01  8.42607299e+01]
 [ 7.84444183e-02  9.96897536e-01  6.46349135e-03 -1.62839948e+00]
 [ 1.89403338e-01 -2.12686289e-02  9.81668998e-01  1.60276288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.44486062399999 meters
Centerline goodness : 0.997606 with order 1
Centerline is valid?  [True, True]
Translation: X:84.32, Y:-1.63, Z:16.04
[[ 9.78770238e-01 -7.56620360e-02 -1.90483797e-01  8.43202819e+01]
 [ 7.83238421e-02  9.96906953e-01  6.47317936e-03 -1.62936698e+00]
 [ 1.89404848e-01 -2.12551781e-02  9.81668998e-01  1.60391903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.50486062399999 meters
Centerline goodness : 0.997537 with order 1
Centerline is valid?  [True, True]
Translation: X:84.38, Y:-1.63, Z:16.05
[[ 9.78760008e-01 -7.57945348e-02 -1.90483688e-01  8.43811289e+01]
 [ 7.84594123e-02  9.96896272e-01  6.47638557e-03 -1.63076960e+00]
 [ 1.89401604e-01 -2.12840654e-02  9.81668998e-01  1.60504549e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.56486062399999 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:84.44, Y:-1.63, Z:16.06
[[ 9.78647053e-01 -7.72403784e-02 -1.90483253e-01  8.44394666e+01]
 [ 7.99345012e-02  9.96778996e-01  6.48916496e-03 -1.63040918e+00]
 [ 1.89368480e-01 -2.15767860e-02  9.81668998e-01  1.60612336e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.624860624 meters
Centerline goodness : 0.997338 with order 1
Centerline is valid?  [True, True]
Translation: X:84.50, Y:-1.63, Z:16.07
[[ 9.78455714e-01 -7.96276097e-02 -1.90483228e-01  8.44985887e+01]
 [ 8.23660957e-02  9.96581009e-01  6.48988047e-03 -1.63129939e+00]
 [ 1.89315194e-01 -2.20394205e-02  9.81668998e-01  1.60721413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.684860624 meters
Centerline goodness : 0.997464 with order 1
Centerline is valid?  [True, True]
Translation: X:84.56, Y:-1.63, Z:16.08
[[ 9.78215562e-01 -8.25252579e-02 -1.90483323e-01  8.45578897e+01]
 [ 8.53168847e-02  9.96332749e-01  6.48711525e-03 -1.63292917e+00]
 [ 1.89249422e-01 -2.25972408e-02  9.81668998e-01  1.60817412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.74486062399998 meters
Centerline goodness : 0.997809 with order 1
Centerline is valid?  [True, True]
Translation: X:84.62, Y:-1.63, Z:16.09
[[ 9.77913747e-01 -8.60282166e-02 -1.90483198e-01  8.46170502e+01]
 [ 8.88854134e-02  9.96020709e-01  6.49076850e-03 -1.63256761e+00]
 [ 1.89166821e-01 -2.32785896e-02  9.81668998e-01  1.60926457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.80486062399999 meters
Centerline goodness : 0.997620 with order 1
Centerline is valid?  [True, True]
Translation: X:84.68, Y:-1.63, Z:16.11
[[ 9.77855663e-01 -8.66860939e-02 -1.90483131e-01  8.46771495e+01]
 [ 8.95558495e-02  9.95960639e-01  6.49273865e-03 -1.63347883e+00]
 [ 1.89150871e-01 -2.34078399e-02  9.81668998e-01  1.61051852e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.86486062399999 meters
Centerline goodness : 0.997707 with order 1
Centerline is valid?  [True, True]
Translation: X:84.74, Y:-1.63, Z:16.12
[[ 9.77820264e-01 -8.70849577e-02 -1.90482916e-01  8.47368465e+01]
 [ 8.99633082e-02  9.95923875e-01  6.49904598e-03 -1.63481237e+00]
 [ 1.89140515e-01 -2.34913721e-02  9.81668998e-01  1.61186912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.92486062399999 meters
Centerline goodness : 0.997735 with order 1
Centerline is valid?  [True, True]
Translation: X:84.80, Y:-1.64, Z:16.13
[[ 9.77903208e-01 -8.61490584e-02 -1.90482691e-01  8.47951853e+01]
 [ 8.90113427e-02  9.96009366e-01  6.50562279e-03 -1.63608266e+00]
 [ 1.89162091e-01 -2.33169895e-02  9.81668998e-01  1.61296163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 85.98486062399999 meters
Centerline goodness : 0.997564 with order 1
Centerline is valid?  [True, True]
Translation: X:84.86, Y:-1.64, Z:16.14
[[ 9.77991814e-01 -8.51370285e-02 -1.90482802e-01  8.48554263e+01]
 [ 8.79799504e-02  9.96101023e-01  6.50237249e-03 -1.63769571e+00]
 [ 1.89186521e-01 -2.31179345e-02  9.81668998e-01  1.61419601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.044860624 meters
Centerline goodness : 0.997671 with order 1
Centerline is valid?  [True, True]
Translation: X:84.91, Y:-1.64, Z:16.15
[[ 9.78056462e-01 -8.43916265e-02 -1.90482571e-01  8.49147404e+01]
 [ 8.72220457e-02  9.96167629e-01  6.50914634e-03 -1.64145012e+00]
 [ 1.89203253e-01 -2.29805921e-02  9.81668998e-01  1.61521989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.10486062399998 meters
Centerline goodness : 0.997744 with order 1
Centerline is valid?  [True, True]
Translation: X:84.98, Y:-1.64, Z:16.16
[[ 9.78084081e-01 -8.40711902e-02 -1.90482456e-01  8.49750683e+01]
 [ 8.68963210e-02  9.96196073e-01  6.51250899e-03 -1.64401687e+00]
 [ 1.89210360e-01 -2.29220060e-02  9.81668998e-01  1.61632557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.16486062399999 meters
Centerline goodness : 0.997935 with order 1
Centerline is valid?  [True, True]
Translation: X:85.04, Y:-1.65, Z:16.17
[[ 9.78095910e-01 -8.39339518e-02 -1.90482235e-01  8.50368357e+01]
 [ 8.67577778e-02  9.96208106e-01  6.51895170e-03 -1.64711155e+00]
 [ 1.89212785e-01 -2.29019754e-02  9.81668998e-01  1.61745323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.22486062399999 meters
Centerline goodness : 0.997890 with order 1
Centerline is valid?  [True, True]
Translation: X:85.10, Y:-1.65, Z:16.18
[[ 9.78095167e-01 -8.39444705e-02 -1.90481415e-01  8.50979674e+01]
 [ 8.67730744e-02  9.96206618e-01  6.54283105e-03 -1.65061550e+00]
 [ 1.89209612e-01 -2.29281694e-02  9.81668998e-01  1.61838524e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.28486062399999 meters
Centerline goodness : 0.997656 with order 1
Centerline is valid?  [True, True]
Translation: X:85.16, Y:-1.65, Z:16.20
[[ 9.78078920e-01 -8.41345765e-02 -1.90480967e-01  8.51587313e+01]
 [ 8.69692006e-02  9.96189429e-01  6.55585736e-03 -1.65237289e+00]
 [ 1.89203551e-01 -2.29781233e-02  9.81668998e-01  1.61958834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.34486062399999 meters
Centerline goodness : 0.997755 with order 1
Centerline is valid?  [True, True]
Translation: X:85.22, Y:-1.66, Z:16.21
[[ 9.78054210e-01 -8.44221089e-02 -1.90480627e-01  8.52195723e+01]
 [ 8.72639490e-02  9.96163588e-01  6.56571687e-03 -1.65526709e+00]
 [ 1.89195573e-01 -2.30437187e-02  9.81668998e-01  1.62079060e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.404860624 meters
Centerline goodness : 0.997639 with order 1
Centerline is valid?  [True, True]
Translation: X:85.28, Y:-1.66, Z:16.22
[[ 9.77883338e-01 -8.63798677e-02 -1.90480171e-01  8.52789609e+01]
 [ 8.92604861e-02  9.95986588e-01  6.57891232e-03 -1.65848544e+00]
 [ 1.89147410e-01 -2.34357614e-02  9.81668998e-01  1.62194075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.464860624 meters
Centerline goodness : 0.998039 with order 1
Centerline is valid?  [True, True]
Translation: X:85.34, Y:-1.66, Z:16.23
[[ 9.77847593e-01 -8.67836021e-02 -1.90480158e-01  8.53386438e+01]
 [ 8.96717666e-02  9.95949641e-01  6.57928795e-03 -1.66040940e+00]
 [ 1.89137671e-01 -2.35142332e-02  9.81668998e-01  1.62311051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.52486062399998 meters
Centerline goodness : 0.997756 with order 1
Centerline is valid?  [True, True]
Translation: X:85.40, Y:-1.66, Z:16.24
[[ 9.77916540e-01 -8.60039600e-02 -1.90479812e-01  8.53976197e+01]
 [ 8.88796090e-02  9.96020580e-01  6.58928406e-03 -1.66318867e+00]
 [ 1.89155109e-01 -2.33735411e-02  9.81668998e-01  1.62428135e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.58486062399999 meters
Centerline goodness : 0.997830 with order 1
Centerline is valid?  [True, True]
Translation: X:85.46, Y:-1.67, Z:16.25
[[ 9.78018004e-01 -8.48424174e-02 -1.90479782e-01  8.54576469e+01]
 [ 8.76967297e-02  9.96125421e-01  6.59015813e-03 -1.66659818e+00]
 [ 1.89182628e-01 -2.31497473e-02  9.81668998e-01  1.62549816e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.64486062399999 meters
Centerline goodness : 0.997600 with order 1
Centerline is valid?  [True, True]
Translation: X:85.52, Y:-1.67, Z:16.27
[[ 9.78081109e-01 -8.41123210e-02 -1.90479558e-01  8.55181747e+01]
 [ 8.69543571e-02  9.96190456e-01  6.59662731e-03 -1.67056223e+00]
 [ 1.89199060e-01 -2.30150641e-02  9.81668998e-01  1.62666940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.70486062399999 meters
Centerline goodness : 0.998021 with order 1
Centerline is valid?  [True, True]
Translation: X:85.58, Y:-1.67, Z:16.28
[[ 9.78128564e-01 -8.35596611e-02 -1.90479118e-01  8.55788477e+01]
 [ 8.63938986e-02  9.96239134e-01  6.60931070e-03 -1.67441242e+00]
 [ 1.89210480e-01 -2.29209892e-02  9.81668999e-01  1.62771167e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.764860624 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:85.64, Y:-1.68, Z:16.29
[[ 9.78131911e-01 -8.35212256e-02 -1.90478790e-01  8.56402168e+01]
 [ 8.63565632e-02  9.96242308e-01  6.61875103e-03 -1.67889164e+00]
 [ 1.89210223e-01 -2.29231053e-02  9.81668999e-01  1.62877291e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.824860624 meters
Centerline goodness : 0.997921 with order 1
Centerline is valid?  [True, True]
Translation: X:85.70, Y:-1.68, Z:16.30
[[ 9.78113419e-01 -8.37385678e-02 -1.90478324e-01  8.57010521e+01]
 [ 8.65804983e-02  9.96222782e-01  6.63213622e-03 -1.68315024e+00]
 [ 1.89203480e-01 -2.29786896e-02  9.81668999e-01  1.62987803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.88486062399998 meters
Centerline goodness : 0.997991 with order 1
Centerline is valid?  [True, True]
Translation: X:85.76, Y:-1.69, Z:16.31
[[ 9.78039371e-01 -8.46000707e-02 -1.90477863e-01  8.57605725e+01]
 [ 8.74604852e-02  9.96145824e-01  6.64534341e-03 -1.68617572e+00]
 [ 1.89181531e-01 -2.31586938e-02  9.81668999e-01  1.63103068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 86.94486062399999 meters
Centerline goodness : 0.997874 with order 1
Centerline is valid?  [True, True]
Translation: X:85.82, Y:-1.69, Z:16.32
[[ 9.78013716e-01 -8.48964035e-02 -1.90477749e-01  8.58192828e+01]
 [ 8.77629305e-02  9.96119202e-01  6.64860850e-03 -1.68907543e+00]
 [ 1.89174101e-01 -2.32193158e-02  9.81668999e-01  1.63213270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.00486062399999 meters
Centerline goodness : 0.998039 with order 1
Centerline is valid?  [True, True]
Translation: X:85.88, Y:-1.69, Z:16.33
[[ 9.78027015e-01 -8.47442450e-02 -1.90477220e-01  8.58801572e+01]
 [ 8.76108582e-02  9.96132487e-01  6.66373932e-03 -1.69263620e+00]
 [ 1.89175833e-01 -2.32051898e-02  9.81668999e-01  1.63325206e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.06486062399999 meters
Centerline goodness : 0.998335 with order 1
Centerline is valid?  [True, True]
Translation: X:85.94, Y:-1.69, Z:16.34
[[ 9.78051903e-01 -8.44575718e-02 -1.90476754e-01  8.59384816e+01]
 [ 8.73214307e-02  9.96157811e-01  6.67704376e-03 -1.69459563e+00]
 [ 1.89180979e-01 -2.31631980e-02  9.81668999e-01  1.63434332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.124860624 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:86.00, Y:-1.70, Z:16.36
[[ 9.78029095e-01 -8.47223212e-02 -1.90476291e-01  8.59988653e+01]
 [ 8.75936073e-02  9.96133827e-01  6.69021036e-03 -1.69629006e+00]
 [ 1.89173067e-01 -2.32277258e-02  9.81668999e-01  1.63557588e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.184860624 meters
Centerline goodness : 0.998772 with order 1
Centerline is valid?  [True, True]
Translation: X:86.06, Y:-1.70, Z:16.37
[[ 9.78009009e-01 -8.49543947e-02 -1.90476057e-01  8.60602790e+01]
 [ 8.78312544e-02  9.96112856e-01  6.69686987e-03 -1.69943740e+00]
 [ 1.89166721e-01 -2.32793501e-02  9.81668999e-01  1.63662929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.24486062399998 meters
Centerline goodness : 0.998727 with order 1
Centerline is valid?  [True, True]
Translation: X:86.12, Y:-1.70, Z:16.38
[[ 9.78021449e-01 -8.48121159e-02 -1.90475589e-01  8.61201397e+01]
 [ 8.76888922e-02  9.96125309e-01  6.71016330e-03 -1.70176299e+00]
 [ 1.89168452e-01 -2.32652770e-02  9.81668999e-01  1.63779773e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.30486062399999 meters
Centerline goodness : 0.998702 with order 1
Centerline is valid?  [True, True]
Translation: X:86.18, Y:-1.71, Z:16.39
[[ 9.77901509e-01 -8.61845596e-02 -1.90475353e-01  8.61794987e+01]
 [ 8.90880241e-02  9.96001108e-01  6.71686000e-03 -1.70514682e+00]
 [ 1.89134773e-01 -2.35375003e-02  9.81668999e-01  1.63899675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.36486062399999 meters
Centerline goodness : 0.998245 with order 1
Centerline is valid?  [True, True]
Translation: X:86.24, Y:-1.71, Z:16.40
[[ 9.77725371e-01 -8.81605407e-02 -1.90475245e-01  8.62395640e+01]
 [ 9.11011597e-02  9.95818970e-01  6.71990852e-03 -1.71010448e+00]
 [ 1.89086432e-01 -2.39227408e-02  9.81668999e-01  1.64011348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.42486062399999 meters
Centerline goodness : 0.998116 with order 1
Centerline is valid?  [True, True]
Translation: X:86.30, Y:-1.71, Z:16.41
[[ 9.77500518e-01 -9.06200319e-02 -1.90475055e-01  8.62995306e+01]
 [ 9.36071911e-02  9.95586493e-01  6.72527996e-03 -1.71482852e+00]
 [ 1.89024947e-01 -2.44037995e-02  9.81668999e-01  1.64123192e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.48486062399999 meters
Centerline goodness : 0.997735 with order 1
Centerline is valid?  [True, True]
Translation: X:86.36, Y:-1.72, Z:16.42
[[ 9.77191690e-01 -9.38920058e-02 -1.90474912e-01  8.63590525e+01]
 [ 9.69404746e-02  9.95267432e-01  6.72934142e-03 -1.72099958e+00]
 [ 1.88941645e-01 -2.50405849e-02  9.81668999e-01  1.64222692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.544860624 meters
Centerline goodness : 0.998130 with order 1
Centerline is valid?  [True, True]
Translation: X:86.42, Y:-1.73, Z:16.43
[[ 9.76974081e-01 -9.61299756e-02 -1.90474863e-01  8.64179491e+01]
 [ 9.92201019e-02  9.95042747e-01  6.73071887e-03 -1.72580178e+00]
 [ 1.88883607e-01 -2.54746732e-02  9.81668999e-01  1.64337023e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.60486062399998 meters
Centerline goodness : 0.997139 with order 1
Centerline is valid?  [True, True]
Translation: X:86.48, Y:-1.73, Z:16.44
[[ 9.76840285e-01 -9.74799825e-02 -1.90474961e-01  8.64772077e+01]
 [ 1.00594546e-01  9.94904755e-01  6.72795291e-03 -1.73107029e+00]
 [ 1.88848604e-01 -2.57328776e-02  9.81668999e-01  1.64443939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.66486062399999 meters
Centerline goodness : 0.998122 with order 1
Centerline is valid?  [True, True]
Translation: X:86.54, Y:-1.74, Z:16.46
[[ 9.76770145e-01 -9.81805256e-02 -1.90474847e-01  8.65381347e+01]
 [ 1.01308659e-01  9.94832271e-01  6.73116679e-03 -1.73629932e+00]
 [ 1.88829655e-01 -2.58715540e-02  9.81668999e-01  1.64577099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.72486062399999 meters
Centerline goodness : 0.997862 with order 1
Centerline is valid?  [True, True]
Translation: X:86.60, Y:-1.74, Z:16.47
[[ 9.76762566e-01 -9.82567817e-02 -1.90474392e-01  8.65990304e+01]
 [ 1.01388789e-01  9.94824020e-01  6.74403904e-03 -1.74015249e+00]
 [ 1.88825852e-01 -2.58992927e-02  9.81668999e-01  1.64702292e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.78486062399999 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:86.66, Y:-1.74, Z:16.48
[[ 9.76790230e-01 -9.79823103e-02 -1.90473919e-01  8.66601716e+01]
 [ 1.01111789e-01  9.94852122e-01  6.75734840e-03 -1.74369001e+00]
 [ 1.88831282e-01 -2.58596707e-02  9.81668999e-01  1.64809545e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.84486062399999 meters
Centerline goodness : 0.997570 with order 1
Centerline is valid?  [True, True]
Translation: X:86.72, Y:-1.75, Z:16.49
[[ 9.76998463e-01 -9.58846753e-02 -1.90473443e-01  8.67194749e+01]
 [ 9.89779293e-02  9.95066594e-01  6.77074688e-03 -1.74819404e+00]
 [ 1.88884549e-01 -2.54676763e-02  9.81668999e-01  1.64914192e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.904860624 meters
Centerline goodness : 0.997502 with order 1
Centerline is valid?  [True, True]
Translation: X:86.78, Y:-1.75, Z:16.50
[[ 9.77246147e-01 -9.33264833e-02 -1.90473450e-01  8.67782451e+01]
 [ 9.63723850e-02  9.95322321e-01  6.77055000e-03 -1.75003221e+00]
 [ 1.88950605e-01 -2.49728746e-02  9.81668999e-01  1.65035153e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 87.96486062399998 meters
Centerline goodness : 0.997417 with order 1
Centerline is valid?  [True, True]
Translation: X:86.84, Y:-1.75, Z:16.52
[[ 9.77616161e-01 -8.93672597e-02 -1.90473450e-01  8.68377406e+01]
 [ 9.23399167e-02  9.95704524e-01  6.77055000e-03 -1.75279401e+00]
 [ 1.89050211e-01 -2.42073016e-02  9.81668999e-01  1.65167386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.02486062399998 meters
Centerline goodness : 0.997491 with order 1
Centerline is valid?  [True, True]
Translation: X:86.90, Y:-1.76, Z:16.53
[[ 9.78200321e-01 -8.27285420e-02 -1.90473411e-01  8.68973159e+01]
 [ 8.55785478e-02  9.96308415e-01  6.77165584e-03 -1.75677056e+00]
 [ 1.89210053e-01 -2.29244738e-02  9.81668999e-01  1.65279217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.08486062399999 meters
Centerline goodness : 0.997043 with order 1
Centerline is valid?  [True, True]
Translation: X:86.96, Y:-1.76, Z:16.54
[[ 9.78518488e-01 -7.88763250e-02 -1.90473342e-01  8.69569279e+01]
 [ 8.16553792e-02  9.96637606e-01  6.77358020e-03 -1.75974707e+00]
 [ 1.89298621e-01 -2.21812464e-02  9.81668999e-01  1.65395799e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.14486062399999 meters
Centerline goodness : 0.996916 with order 1
Centerline is valid?  [True, True]
Translation: X:87.02, Y:-1.76, Z:16.55
[[ 9.78888156e-01 -7.41479080e-02 -1.90473266e-01  8.70157807e+01]
 [ 7.68398058e-02  9.97020428e-01  6.77573779e-03 -1.76264424e+00]
 [ 1.89403330e-01 -2.12686182e-02  9.81668999e-01  1.65516815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.20486062399999 meters
Centerline goodness : 0.996869 with order 1
Centerline is valid?  [True, True]
Translation: X:87.08, Y:-1.77, Z:16.56
[[ 9.79083817e-01 -7.15179725e-02 -1.90473248e-01  8.70751206e+01]
 [ 7.41612479e-02  9.97223241e-01  6.77624473e-03 -1.76640183e+00]
 [ 1.89459726e-01 -2.07602453e-02  9.81668999e-01  1.65617011e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.264860624 meters
Centerline goodness : 0.997190 with order 1
Centerline is valid?  [True, True]
Translation: X:87.14, Y:-1.77, Z:16.57
[[ 9.79166845e-01 -7.03720602e-02 -1.90473261e-01  8.71358045e+01]
 [ 7.29940322e-02  9.97309360e-01  6.77586916e-03 -1.76978891e+00]
 [ 1.89483934e-01 -2.05381178e-02  9.81668999e-01  1.65723954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.324860624 meters
Centerline goodness : 0.997282 with order 1
Centerline is valid?  [True, True]
Translation: X:87.19, Y:-1.77, Z:16.58
[[ 9.79130681e-01 -7.08743760e-02 -1.90472916e-01  8.71945413e+01]
 [ 7.35075175e-02  9.97271578e-01  6.78555760e-03 -1.77272548e+00]
 [ 1.89472303e-01 -2.06451388e-02  9.81668999e-01  1.65827043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.38486062399998 meters
Centerline goodness : 0.997127 with order 1
Centerline is valid?  [True, True]
Translation: X:87.26, Y:-1.78, Z:16.59
[[ 9.79099404e-01 -7.13051502e-02 -1.90472917e-01  8.72556578e+01]
 [ 7.39462650e-02  9.97239142e-01  6.78551653e-03 -1.77562316e+00]
 [ 1.89463206e-01 -2.07284560e-02  9.81668999e-01  1.65943652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.44486062399999 meters
Centerline goodness : 0.997261 with order 1
Centerline is valid?  [True, True]
Translation: X:87.32, Y:-1.78, Z:16.61
[[ 9.79070118e-01 -7.17073735e-02 -1.90472459e-01  8.73166384e+01]
 [ 7.43584091e-02  9.97208408e-01  6.79836109e-03 -1.77733223e+00]
 [ 1.89453245e-01 -2.08193012e-02  9.81669000e-01  1.66067326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.50486062399999 meters
Centerline goodness : 0.997611 with order 1
Centerline is valid?  [True, True]
Translation: X:87.38, Y:-1.78, Z:16.62
[[ 9.78877613e-01 -7.42902081e-02 -1.90472001e-01  8.73758349e+01]
 [ 7.69915494e-02  9.97008480e-01  6.81116700e-03 -1.77887467e+00]
 [ 1.89396197e-01 -2.13320334e-02  9.81669000e-01  1.66187444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.56486062399999 meters
Centerline goodness : 0.997278 with order 1
Centerline is valid?  [True, True]
Translation: X:87.44, Y:-1.78, Z:16.63
[[ 9.78765547e-01 -7.57524228e-02 -1.90471979e-01  8.74352530e+01]
 [ 7.84809651e-02  9.96892340e-01  6.81178773e-03 -1.78153009e+00]
 [ 1.89364047e-01 -2.16155679e-02  9.81669000e-01  1.66283274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.624860624 meters
Centerline goodness : 0.997773 with order 1
Centerline is valid?  [True, True]
Translation: X:87.50, Y:-1.78, Z:16.64
[[ 9.78665841e-01 -7.70308464e-02 -1.90471571e-01  8.74951707e+01]
 [ 7.97852481e-02  9.96788723e-01  6.82315988e-03 -1.78298054e+00]
 [ 1.89334321e-01 -2.18744151e-02  9.81669000e-01  1.66411475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.684860624 meters
Centerline goodness : 0.998058 with order 1
Centerline is valid?  [True, True]
Translation: X:87.55, Y:-1.79, Z:16.65
[[ 9.78686035e-01 -7.67742841e-02 -1.90471402e-01  8.75548014e+01]
 [ 7.95248442e-02  9.96809500e-01  6.82789502e-03 -1.78510253e+00]
 [ 1.89339496e-01 -2.18295740e-02  9.81669000e-01  1.66528506e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.74486062399998 meters
Centerline goodness : 0.997762 with order 1
Centerline is valid?  [True, True]
Translation: X:87.61, Y:-1.79, Z:16.66
[[ 9.78811789e-01 -7.51544322e-02 -1.90471238e-01  8.76139951e+01]
 [ 7.78758712e-02  9.96939650e-01  6.83246203e-03 -1.78661153e+00]
 [ 1.89374839e-01 -2.15208080e-02  9.81669000e-01  1.66643598e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.80486062399999 meters
Centerline goodness : 0.997336 with order 1
Centerline is valid?  [True, True]
Translation: X:87.67, Y:-1.79, Z:16.68
[[ 9.78971639e-01 -7.30427152e-02 -1.90471238e-01  8.76740503e+01]
 [ 7.57250415e-02  9.97105328e-01  6.83246203e-03 -1.78707132e+00]
 [ 1.89420824e-01 -2.11122289e-02  9.81669000e-01  1.66759791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.86486062399999 meters
Centerline goodness : 0.997424 with order 1
Centerline is valid?  [True, True]
Translation: X:87.73, Y:-1.79, Z:16.69
[[ 9.79127580e-01 -7.09223348e-02 -1.90471007e-01  8.77339701e+01]
 [ 7.35666184e-02  9.97266856e-01  6.83889496e-03 -1.78784390e+00]
 [ 1.89465392e-01 -2.07084585e-02  9.81669000e-01  1.66874940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.92486062399999 meters
Centerline goodness : 0.997507 with order 1
Centerline is valid?  [True, True]
Translation: X:87.79, Y:-1.79, Z:16.70
[[ 9.79297675e-01 -6.85338579e-02 -1.90470929e-01  8.77925489e+01]
 [ 7.11343042e-02  9.97443287e-01  6.84105559e-03 -1.78676491e+00]
 [ 1.89515106e-01 -2.02484469e-02  9.81669000e-01  1.66972815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 88.98486062399999 meters
Centerline goodness : 0.997727 with order 1
Centerline is valid?  [True, True]
Translation: X:87.85, Y:-1.79, Z:16.71
[[ 9.79380365e-01 -6.73416346e-02 -1.90471010e-01  8.78530151e+01]
 [ 6.99195539e-02  9.97529191e-01  6.83879360e-03 -1.78640077e+00]
 [ 1.89539857e-01 -2.00154283e-02  9.81669000e-01  1.67090510e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.044860624 meters
Centerline goodness : 0.998054 with order 1
Centerline is valid?  [True, True]
Translation: X:87.91, Y:-1.78, Z:16.72
[[ 9.79385045e-01 -6.72741753e-02 -1.90470781e-01  8.79127501e+01]
 [ 6.98520748e-02  9.97533875e-01  6.84519035e-03 -1.78433429e+00]
 [ 1.89540551e-01 -2.00088563e-02  9.81669000e-01  1.67188678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.10486062399998 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:87.97, Y:-1.78, Z:16.73
[[ 9.79317642e-01 -6.82486759e-02 -1.90470667e-01  8.79727708e+01]
 [ 7.08452396e-02  9.97463810e-01  6.84834429e-03 -1.78291477e+00]
 [ 1.89520207e-01 -2.02006444e-02  9.81669000e-01  1.67302175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.16486062399999 meters
Centerline goodness : 0.997896 with order 1
Centerline is valid?  [True, True]
Translation: X:88.03, Y:-1.78, Z:16.74
[[ 9.79138855e-01 -7.07680999e-02 -1.90470412e-01  8.80329648e+01]
 [ 7.34127042e-02  9.97278085e-01  6.85542695e-03 -1.77881291e+00]
 [ 1.89466822e-01 -2.06953629e-02  9.81669000e-01  1.67424676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.22486062399999 meters
Centerline goodness : 0.997376 with order 1
Centerline is valid?  [True, True]
Translation: X:88.09, Y:-1.78, Z:16.75
[[ 9.79166844e-01 -7.03802436e-02 -1.90470243e-01  8.80926862e+01]
 [ 7.30185656e-02  9.97306988e-01  6.86012491e-03 -1.77740236e+00]
 [ 1.89474487e-01 -2.06250708e-02  9.81669000e-01  1.67507535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.28486062399999 meters
Centerline goodness : 0.997731 with order 1
Centerline is valid?  [True, True]
Translation: X:88.15, Y:-1.77, Z:16.76
[[ 9.78936004e-01 -7.35213300e-02 -1.90470243e-01  8.81514839e+01]
 [ 7.62178372e-02  9.97067590e-01  6.86012491e-03 -1.77400555e+00]
 [ 1.89407341e-01 -2.12328532e-02  9.81669000e-01  1.67638543e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.34486062399999 meters
Centerline goodness : 0.998143 with order 1
Centerline is valid?  [True, True]
Translation: X:88.21, Y:-1.77, Z:16.78
[[ 9.78806958e-01 -7.52198209e-02 -1.90470252e-01  8.82106169e+01]
 [ 7.79477383e-02  9.96933845e-01  6.85988158e-03 -1.77323823e+00]
 [ 1.89370241e-01 -2.15612252e-02  9.81669000e-01  1.67783258e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.404860624 meters
Centerline goodness : 0.998022 with order 1
Centerline is valid?  [True, True]
Translation: X:88.27, Y:-1.77, Z:16.79
[[ 9.78650092e-01 -7.72342100e-02 -1.90470138e-01  8.82708941e+01]
 [ 8.00000337e-02  9.96771234e-01  6.86302623e-03 -1.77311842e+00]
 [ 1.89325095e-01 -2.19541187e-02  9.81669000e-01  1.67892875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.46486062399998 meters
Centerline goodness : 0.997813 with order 1
Centerline is valid?  [True, True]
Translation: X:88.33, Y:-1.77, Z:16.80
[[ 9.78331106e-01 -8.11757588e-02 -1.90469798e-01  8.83304409e+01]
 [ 8.40163682e-02  9.96440675e-01  6.87247272e-03 -1.77293392e+00]
 [ 1.89233976e-01 -2.27261345e-02  9.81669000e-01  1.68004133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.52486062399998 meters
Centerline goodness : 0.997854 with order 1
Centerline is valid?  [True, True]
Translation: X:88.39, Y:-1.77, Z:16.81
[[ 9.78105474e-01 -8.38507684e-02 -1.90469760e-01  8.83905654e+01]
 [ 8.67410884e-02  9.96207176e-01  6.87351186e-03 -1.77449698e+00]
 [ 1.89170993e-01 -2.32445739e-02  9.81669000e-01  1.68102894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.58486062399999 meters
Centerline goodness : 0.997894 with order 1
Centerline is valid?  [True, True]
Translation: X:88.45, Y:-1.77, Z:16.82
[[ 9.77798181e-01 -8.73614883e-02 -1.90469651e-01  8.84501268e+01]
 [ 9.03173495e-02  9.95889296e-01  6.87652298e-03 -1.77439448e+00]
 [ 1.89085944e-01 -2.39265657e-02  9.81669000e-01  1.68230301e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.64486062399999 meters
Centerline goodness : 0.997773 with order 1
Centerline is valid?  [True, True]
Translation: X:88.51, Y:-1.78, Z:16.83
[[ 9.77597932e-01 -8.95746758e-02 -1.90469581e-01  8.85091772e+01]
 [ 9.25718567e-02  9.95682247e-01  6.87847996e-03 -1.77547084e+00]
 [ 1.89031043e-01 -2.43565105e-02  9.81669000e-01  1.68329366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.70486062399999 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:88.57, Y:-1.78, Z:16.85
[[ 9.77426063e-01 -9.14315426e-02 -1.90469329e-01  8.85685202e+01]
 [ 9.44644055e-02  9.95504428e-01  6.88544617e-03 -1.77636278e+00]
 [ 1.88983513e-01 -2.47225865e-02  9.81669000e-01  1.68457357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.764860624 meters
Centerline goodness : 0.998165 with order 1
Centerline is valid?  [True, True]
Translation: X:88.63, Y:-1.78, Z:16.86
[[ 9.77483206e-01 -9.08188398e-02 -1.90469213e-01  8.86287248e+01]
 [ 9.38409867e-02  9.95563366e-01  6.88866558e-03 -1.77684587e+00]
 [ 1.88998550e-01 -2.46073738e-02  9.81669000e-01  1.68586073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.824860624 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:88.69, Y:-1.78, Z:16.87
[[ 9.77676125e-01 -8.87184470e-02 -1.90468978e-01  8.86878603e+01]
 [ 9.17029799e-02  9.95762532e-01  6.89513120e-03 -1.77733300e+00]
 [ 1.89050147e-01 -2.42077781e-02  9.81669000e-01  1.68716318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.88486062399998 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:88.75, Y:-1.78, Z:16.88
[[ 9.78008493e-01 -8.49762070e-02 -1.90468978e-01  8.87473202e+01]
 [ 8.78915009e-02  9.96106190e-01  6.89513120e-03 -1.77799241e+00]
 [ 1.89141406e-01 -2.34841013e-02  9.81669000e-01  1.68826096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 89.94486062399999 meters
Centerline goodness : 0.998243 with order 1
Centerline is valid?  [True, True]
Translation: X:88.81, Y:-1.78, Z:16.89
[[ 9.78471944e-01 -7.94621752e-02 -1.90468940e-01  8.88063727e+01]
 [ 8.22756166e-02  9.96585754e-01  6.89619402e-03 -1.77874350e+00]
 [ 1.89270646e-01 -2.24186819e-02  9.81669000e-01  1.68933959e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.00486062399999 meters
Centerline goodness : 0.997902 with order 1
Centerline is valid?  [True, True]
Translation: X:88.86, Y:-1.78, Z:16.91
[[ 9.78792666e-01 -7.54090314e-02 -1.90468883e-01  8.88649164e+01]
 [ 7.81477290e-02  9.96917927e-01  6.89776039e-03 -1.77931916e+00]
 [ 1.89361691e-01 -2.16361879e-02  9.81669000e-01  1.69052939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.06486062399999 meters
Centerline goodness : 0.997708 with order 1
Centerline is valid?  [True, True]
Translation: X:88.92, Y:-1.78, Z:16.92
[[ 9.79091155e-01 -7.14290573e-02 -1.90468895e-01  8.89233239e+01]
 [ 7.40939824e-02  9.97227410e-01  6.89744602e-03 -1.78076319e+00]
 [ 1.89448124e-01 -2.08658273e-02  9.81669000e-01  1.69167029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.124860624 meters
Centerline goodness : 0.997689 with order 1
Centerline is valid?  [True, True]
Translation: X:88.98, Y:-1.78, Z:16.93
[[ 9.79382614e-01 -6.73149189e-02 -1.90468886e-01  8.89820262e+01]
 [ 6.99036690e-02  9.97529899e-01  6.89768243e-03 -1.78285317e+00]
 [ 1.89534092e-01 -2.00699442e-02  9.81669000e-01  1.69311701e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.184860624 meters
Centerline goodness : 0.997324 with order 1
Centerline is valid?  [True, True]
Translation: X:89.04, Y:-1.79, Z:16.94
[[ 9.79461868e-01 -6.61519944e-02 -1.90468795e-01  8.90407252e+01]
 [ 6.87196769e-02  9.97612146e-01  6.90018546e-03 -1.78544415e+00]
 [ 1.89557523e-01 -1.98474226e-02  9.81669000e-01  1.69430864e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.24486062399998 meters
Centerline goodness : 0.997378 with order 1
Centerline is valid?  [True, True]
Translation: X:89.10, Y:-1.79, Z:16.95
[[ 9.79396642e-01 -6.71106997e-02 -1.90468821e-01  8.91006496e+01]
 [ 6.96960131e-02  9.97544416e-01  6.89948833e-03 -1.78908282e+00]
 [ 1.89538079e-01 -2.00322531e-02  9.81669000e-01  1.69542259e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.30486062399999 meters
Centerline goodness : 0.997209 with order 1
Centerline is valid?  [True, True]
Translation: X:89.16, Y:-1.79, Z:16.97
[[ 9.79280147e-01 -6.87904835e-02 -1.90468534e-01  8.91604501e+01]
 [ 7.14084427e-02  9.97423241e-01  6.90740498e-03 -1.79212692e+00]
 [ 1.89502578e-01 -2.03653459e-02  9.81669000e-01  1.69655741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.36486062399999 meters
Centerline goodness : 0.997719 with order 1
Centerline is valid?  [True, True]
Translation: X:89.22, Y:-1.80, Z:16.98
[[ 9.79086030e-01 -7.15002937e-02 -1.90468514e-01  8.92200542e+01]
 [ 7.41685581e-02  9.97221793e-01  6.90795477e-03 -1.79639269e+00]
 [ 1.89445432e-01 -2.08902570e-02  9.81669000e-01  1.69771534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.42486062399999 meters
Centerline goodness : 0.997908 with order 1
Centerline is valid?  [True, True]
Translation: X:89.28, Y:-1.80, Z:16.99
[[ 9.78923821e-01 -7.36881378e-02 -1.90468400e-01  8.92796426e+01]
 [ 7.63975285e-02  9.97053486e-01  6.91109846e-03 -1.79954542e+00]
 [ 1.89397916e-01 -2.13167539e-02  9.81669000e-01  1.69890917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.48486062399999 meters
Centerline goodness : 0.998081 with order 1
Centerline is valid?  [True, True]
Translation: X:89.34, Y:-1.80, Z:17.00
[[ 9.78672969e-01 -7.69483191e-02 -1.90468307e-01  8.93383539e+01]
 [ 7.97185731e-02  9.96793434e-01  6.91366125e-03 -1.80355489e+00]
 [ 1.89325563e-01 -2.19500750e-02  9.81669000e-01  1.69993773e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.544860624 meters
Centerline goodness : 0.998178 with order 1
Centerline is valid?  [True, True]
Translation: X:89.40, Y:-1.81, Z:17.01
[[ 9.78591251e-01 -7.79811904e-02 -1.90468101e-01  8.93985135e+01]
 [ 8.07716527e-02  9.96708615e-01  6.91931264e-03 -1.80713063e+00]
 [ 1.89301621e-01 -2.21556021e-02  9.81669000e-01  1.70116095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.60486062399998 meters
Centerline goodness : 0.997729 with order 1
Centerline is valid?  [True, True]
Translation: X:89.46, Y:-1.81, Z:17.02
[[ 9.78545694e-01 -7.85513504e-02 -1.90467873e-01  8.94586619e+01]
 [ 8.13535720e-02  9.96661243e-01  6.92558294e-03 -1.80997458e+00]
 [ 1.89287933e-01 -2.22722412e-02  9.81669000e-01  1.70233154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.66486062399999 meters
Centerline goodness : 0.997885 with order 1
Centerline is valid?  [True, True]
Translation: X:89.52, Y:-1.82, Z:17.04
[[ 9.78517710e-01 -7.88997320e-02 -1.90467645e-01  8.95188747e+01]
 [ 8.17096043e-02  9.96632074e-01  6.93184074e-03 -1.81510940e+00]
 [ 1.89279244e-01 -2.23459649e-02  9.81669000e-01  1.70353812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.72486062399999 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:89.58, Y:-1.82, Z:17.05
[[ 9.78556023e-01 -7.84236949e-02 -1.90467411e-01  8.95784365e+01]
 [ 8.12259930e-02  9.96671560e-01  6.93829114e-03 -1.81885906e+00]
 [ 1.89289325e-01 -2.22604111e-02  9.81669000e-01  1.70480632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.78486062399999 meters
Centerline goodness : 0.998297 with order 1
Centerline is valid?  [True, True]
Translation: X:89.64, Y:-1.82, Z:17.06
[[ 9.78678848e-01 -7.68766025e-02 -1.90467060e-01  8.96375767e+01]
 [ 7.96521035e-02  9.96798510e-01  6.94789967e-03 -1.82470290e+00]
 [ 1.89323151e-01 -2.19708644e-02  9.81669000e-01  1.70584146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.84486062399999 meters
Centerline goodness : 0.998185 with order 1
Centerline is valid?  [True, True]
Translation: X:89.70, Y:-1.83, Z:17.07
[[ 9.78725065e-01 -7.62860277e-02 -1.90467027e-01  8.96986230e+01]
 [ 7.90507673e-02  9.96846373e-01  6.94880060e-03 -1.82958269e+00]
 [ 1.89336269e-01 -2.18575300e-02  9.81669000e-01  1.70689147e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.904860624 meters
Centerline goodness : 0.998146 with order 1
Centerline is valid?  [True, True]
Translation: X:89.76, Y:-1.83, Z:17.08
[[ 9.78835525e-01 -7.48565246e-02 -1.90466573e-01  8.97586706e+01]
 [ 7.75971798e-02  9.96960490e-01  6.96121492e-03 -1.83478727e+00]
 [ 1.89366556e-01 -2.15935534e-02  9.81669000e-01  1.70804599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 90.96486062399998 meters
Centerline goodness : 0.998355 with order 1
Centerline is valid?  [True, True]
Translation: X:89.82, Y:-1.84, Z:17.09
[[ 9.78889134e-01 -7.41528155e-02 -1.90466332e-01  8.98200375e+01]
 [ 7.68817066e-02  9.97015874e-01  6.96780891e-03 -1.83833579e+00]
 [ 1.89381274e-01 -2.14640891e-02  9.81669000e-01  1.70916896e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.02486062399998 meters
Centerline goodness : 0.997498 with order 1
Centerline is valid?  [True, True]
Translation: X:89.88, Y:-1.84, Z:17.10
[[ 9.78940224e-01 -7.34765026e-02 -1.90465856e-01  8.98802658e+01]
 [ 7.61953676e-02  9.97068470e-01  6.98081109e-03 -1.84213577e+00]
 [ 1.89394574e-01 -2.13464127e-02  9.81669000e-01  1.71025622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.08486062399999 meters
Centerline goodness : 0.997545 with order 1
Centerline is valid?  [True, True]
Translation: X:89.94, Y:-1.85, Z:17.12
[[ 9.78861703e-01 -7.45156733e-02 -1.90465695e-01  8.99410369e+01]
 [ 7.72546222e-02  9.96986926e-01  6.98518981e-03 -1.84553936e+00]
 [ 1.89371302e-01 -2.15518901e-02  9.81669000e-01  1.71155219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.14486062399999 meters
Centerline goodness : 0.997385 with order 1
Centerline is valid?  [True, True]
Translation: X:90.00, Y:-1.85, Z:17.13
[[ 9.78677933e-01 -7.68928276e-02 -1.90465210e-01  8.99999225e+01]
 [ 7.96783262e-02  9.96796061e-01  6.99840139e-03 -1.84854707e+00]
 [ 1.89316844e-01 -2.20251301e-02  9.81669000e-01  1.71260616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.20486062399999 meters
Centerline goodness : 0.997209 with order 1
Centerline is valid?  [True, True]
Translation: X:90.06, Y:-1.85, Z:17.14
[[ 9.78597571e-01 -7.79093014e-02 -1.90465050e-01  9.00602504e+01]
 [ 8.07144527e-02  9.96712666e-01  7.00275378e-03 -1.85137308e+00]
 [ 1.89293348e-01 -2.22261601e-02  9.81669000e-01  1.71391409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.264860624 meters
Centerline goodness : 0.996868 with order 1
Centerline is valid?  [True, True]
Translation: X:90.12, Y:-1.85, Z:17.15
[[ 9.78539918e-01 -7.86317632e-02 -1.90464368e-01  9.01202651e+01]
 [ 8.14538362e-02  9.96652384e-01  7.02123930e-03 -1.85408425e+00]
 [ 1.89274674e-01 -2.23846164e-02  9.81669001e-01  1.71513899e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.32486062399998 meters
Centerline goodness : 0.997192 with order 1
Centerline is valid?  [True, True]
Translation: X:90.18, Y:-1.86, Z:17.16
[[ 9.78558209e-01 -7.84043863e-02 -1.90464128e-01  9.01812947e+01]
 [ 8.12234979e-02  9.96671136e-01  7.02773715e-03 -1.85731274e+00]
 [ 1.89279094e-01 -2.23472126e-02  9.81669001e-01  1.71637464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.38486062399998 meters
Centerline goodness : 0.997342 with order 1
Centerline is valid?  [True, True]
Translation: X:90.24, Y:-1.86, Z:17.18
[[ 9.78634320e-01 -7.74497586e-02 -1.90463652e-01  9.02398153e+01]
 [ 8.02536767e-02  9.96749606e-01  7.04064009e-03 -1.86080374e+00]
 [ 1.89299274e-01 -2.21756203e-02  9.81669001e-01  1.71750895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.44486062399999 meters
Centerline goodness : 0.997213 with order 1
Centerline is valid?  [True, True]
Translation: X:90.30, Y:-1.86, Z:17.19
[[ 9.78728717e-01 -7.62475462e-02 -1.90463672e-01  9.02999778e+01]
 [ 7.90291042e-02  9.96847450e-01  7.04009202e-03 -1.86418619e+00]
 [ 1.89326436e-01 -2.19425136e-02  9.81669001e-01  1.71855943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.50486062399999 meters
Centerline goodness : 0.997080 with order 1
Centerline is valid?  [True, True]
Translation: X:90.36, Y:-1.87, Z:17.20
[[ 9.78905116e-01 -7.39485955e-02 -1.90463589e-01  9.03590534e+01]
 [ 7.66880212e-02  9.97030267e-01  7.04233518e-03 -1.86750853e+00]
 [ 1.89377192e-01 -2.15000537e-02  9.81669001e-01  1.71982427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.56486062399999 meters
Centerline goodness : 0.997107 with order 1
Centerline is valid?  [True, True]
Translation: X:90.42, Y:-1.87, Z:17.21
[[ 9.78991538e-01 -7.27955499e-02 -1.90463584e-01  9.04192066e+01]
 [ 7.55136516e-02  9.97119899e-01  7.04247275e-03 -1.87057071e+00]
 [ 1.89402369e-01 -2.12771219e-02  9.81669001e-01  1.72077423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.624860624 meters
Centerline goodness : 0.997172 with order 1
Centerline is valid?  [True, True]
Translation: X:90.48, Y:-1.87, Z:17.22
[[ 9.79058414e-01 -7.18914678e-02 -1.90463222e-01  9.04780963e+01]
 [ 7.45947073e-02  9.97188997e-01  7.05225480e-03 -1.87342260e+00]
 [ 1.89420832e-01 -2.11121177e-02  9.81669001e-01  1.72207384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.684860624 meters
Centerline goodness : 0.997040 with order 1
Centerline is valid?  [True, True]
Translation: X:90.54, Y:-1.88, Z:17.23
[[ 9.79011504e-01 -7.25274922e-02 -1.90463222e-01  9.05381016e+01]
 [ 7.52425096e-02  9.97140326e-01  7.05225480e-03 -1.87731807e+00]
 [ 1.89407077e-01 -2.12351694e-02  9.81669001e-01  1.72323337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.74486062399998 meters
Centerline goodness : 0.996931 with order 1
Centerline is valid?  [True, True]
Translation: X:90.60, Y:-1.88, Z:17.24
[[ 9.78787290e-01 -7.54933541e-02 -1.90463104e-01  9.05968443e+01]
 [ 7.82638960e-02  9.96907711e-01  7.05543381e-03 -1.88014125e+00]
 [ 1.89341498e-01 -2.18121535e-02  9.81669001e-01  1.72426081e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.80486062399999 meters
Centerline goodness : 0.997207 with order 1
Centerline is valid?  [True, True]
Translation: X:90.66, Y:-1.88, Z:17.25
[[ 9.78572470e-01 -7.82284395e-02 -1.90463202e-01  9.06565719e+01]
 [ 8.10491015e-02  9.96685157e-01  7.05278008e-03 -1.88402478e+00]
 [ 1.89280118e-01 -2.23385278e-02  9.81669001e-01  1.72538257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.86486062399999 meters
Centerline goodness : 0.997057 with order 1
Centerline is valid?  [True, True]
Translation: X:90.72, Y:-1.89, Z:17.27
[[ 9.78148337e-01 -8.33643041e-02 -1.90463181e-01  9.07151066e+01]
 [ 8.62801176e-02  9.96245949e-01  7.05334865e-03 -1.88885171e+00]
 [ 1.89160175e-01 -2.33324069e-02  9.81669001e-01  1.72665637e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.92486062399999 meters
Centerline goodness : 0.997061 with order 1
Centerline is valid?  [True, True]
Translation: X:90.77, Y:-1.89, Z:17.28
[[ 9.77941598e-01 -8.57555582e-02 -1.90463161e-01  9.07749482e+01]
 [ 8.87157116e-02  9.96032010e-01  7.05387673e-03 -1.89254442e+00]
 [ 1.89102496e-01 -2.37953544e-02  9.81669001e-01  1.72788253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 91.98486062399999 meters
Centerline goodness : 0.997232 with order 1
Centerline is valid?  [True, True]
Translation: X:90.83, Y:-1.90, Z:17.29
[[ 9.77689362e-01 -8.85854224e-02 -1.90462947e-01  9.08346131e+01]
 [ 9.15990289e-02  9.95770947e-01  7.05967339e-03 -1.89805520e+00]
 [ 1.89032085e-01 -2.43483885e-02  9.81669001e-01  1.72909051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.044860624 meters
Centerline goodness : 0.997194 with order 1
Centerline is valid?  [True, True]
Translation: X:90.89, Y:-1.90, Z:17.30
[[ 9.77586996e-01 -8.97084650e-02 -1.90462742e-01  9.08940021e+01]
 [ 9.27438969e-02  9.95664930e-01  7.06518818e-03 -1.90293210e+00]
 [ 1.89003266e-01 -2.45710930e-02  9.81669001e-01  1.73023022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.10486062399998 meters
Centerline goodness : 0.996597 with order 1
Centerline is valid?  [True, True]
Translation: X:90.95, Y:-1.91, Z:17.31
[[ 9.77721383e-01 -8.82323976e-02 -1.90462440e-01  9.09535602e+01]
 [ 9.12420918e-02  9.95803620e-01  7.07332789e-03 -1.90782291e+00]
 [ 1.89039090e-01 -2.42939353e-02  9.81669001e-01  1.73137874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.16486062399999 meters
Centerline goodness : 0.996519 with order 1
Centerline is valid?  [True, True]
Translation: X:91.01, Y:-1.91, Z:17.33
[[ 9.77953392e-01 -8.56230942e-02 -1.90462198e-01  9.10128842e+01]
 [ 8.85857733e-02  9.96043391e-01  7.07983214e-03 -1.91060631e+00]
 [ 1.89102416e-01 -2.37959869e-02  9.81669001e-01  1.73255651e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.22486062399999 meters
Centerline goodness : 0.996627 with order 1
Centerline is valid?  [True, True]
Translation: X:91.07, Y:-1.91, Z:17.34
[[ 9.78323271e-01 -8.12879955e-02 -1.90462175e-01  9.10725481e+01]
 [ 8.41705914e-02  9.96426203e-01  7.08045843e-03 -1.91339260e+00]
 [ 1.89205945e-01 -2.29582911e-02  9.81669001e-01  1.73370750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.28486062399999 meters
Centerline goodness : 0.996305 with order 1
Centerline is valid?  [True, True]
Translation: X:91.13, Y:-1.92, Z:17.35
[[ 9.78785545e-01 -7.55185302e-02 -1.90462094e-01  9.11322459e+01]
 [ 7.82947623e-02  9.96905094e-01  7.08263831e-03 -1.91652980e+00]
 [ 1.89337761e-01 -2.18445683e-02  9.81669001e-01  1.73483882e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.34486062399999 meters
Centerline goodness : 0.996797 with order 1
Centerline is valid?  [True, True]
Translation: X:91.19, Y:-1.92, Z:17.36
[[ 9.79134381e-01 -7.08523842e-02 -1.90462080e-01  9.11920918e+01]
 [ 7.35422917e-02  9.97266946e-01  7.08301295e-03 -1.91960812e+00]
 [ 1.89439688e-01 -2.09422393e-02  9.81669001e-01  1.73590575e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.404860624 meters
Centerline goodness : 0.996324 with order 1
Centerline is valid?  [True, True]
Translation: X:91.25, Y:-1.92, Z:17.37
[[ 9.79231050e-01 -6.95036982e-02 -1.90462036e-01  9.12522987e+01]
 [ 7.21688546e-02  9.97367270e-01  7.08419160e-03 -1.92235990e+00]
 [ 1.89468223e-01 -2.06824873e-02  9.81669001e-01  1.73707975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.46486062399998 meters
Centerline goodness : 0.996528 with order 1
Centerline is valid?  [True, True]
Translation: X:91.31, Y:-1.92, Z:17.38
[[ 9.79261191e-01 -6.90783921e-02 -1.90461795e-01  9.13129512e+01]
 [ 7.17369158e-02  9.97398384e-01  7.09066590e-03 -1.92496130e+00]
 [ 1.89476475e-01 -2.06067557e-02  9.81669001e-01  1.73816347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.52486062399998 meters
Centerline goodness : 0.996667 with order 1
Centerline is valid?  [True, True]
Translation: X:91.37, Y:-1.93, Z:17.39
[[ 9.79245160e-01 -6.93059304e-02 -1.90461555e-01  9.13731854e+01]
 [ 7.19699037e-02  9.97381554e-01  7.09709286e-03 -1.92794856e+00]
 [ 1.89470971e-01 -2.06572936e-02  9.81669001e-01  1.73918041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.58486062399999 meters
Centerline goodness : 0.996595 with order 1
Centerline is valid?  [True, True]
Translation: X:91.43, Y:-1.93, Z:17.40
[[ 9.79156130e-01 -7.05529181e-02 -1.90461436e-01  9.14335020e+01]
 [ 7.32406001e-02  9.97289025e-01  7.10029062e-03 -1.93045308e+00]
 [ 1.89444154e-01 -2.09018030e-02  9.81669001e-01  1.74025953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.64486062399999 meters
Centerline goodness : 0.996704 with order 1
Centerline is valid?  [True, True]
Translation: X:91.49, Y:-1.93, Z:17.41
[[ 9.79030251e-01 -7.22793120e-02 -1.90461199e-01  9.14927456e+01]
 [ 7.50001818e-02  9.97158196e-01  7.10663604e-03 -1.93325290e+00]
 [ 1.89406283e-01 -2.12422363e-02  9.81669001e-01  1.74140078e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.70486062399999 meters
Centerline goodness : 0.996458 with order 1
Centerline is valid?  [True, True]
Translation: X:91.55, Y:-1.94, Z:17.43
[[ 9.78993846e-01 -7.27708272e-02 -1.90461168e-01  9.15532605e+01]
 [ 7.55009611e-02  9.97120398e-01  7.10748585e-03 -1.93604896e+00]
 [ 1.89395498e-01 -2.13381861e-02  9.81669001e-01  1.74258290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.764860624 meters
Centerline goodness : 0.996790 with order 1
Centerline is valid?  [True, True]
Translation: X:91.61, Y:-1.94, Z:17.44
[[ 9.78951693e-01 -7.33363351e-02 -1.90460926e-01  9.16121936e+01]
 [ 7.60781800e-02  9.97076478e-01  7.11394423e-03 -1.93780998e+00]
 [ 1.89382399e-01 -2.14541284e-02  9.81669001e-01  1.74369341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.82486062399998 meters
Centerline goodness : 0.997275 with order 1
Centerline is valid?  [True, True]
Translation: X:91.67, Y:-1.94, Z:17.45
[[ 9.78967156e-01 -7.31296285e-02 -1.90460926e-01  9.16717571e+01]
 [ 7.58676463e-02  9.97092519e-01  7.11394423e-03 -1.93941757e+00]
 [ 1.89386925e-01 -2.14141400e-02  9.81669001e-01  1.74495753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.88486062399998 meters
Centerline goodness : 0.996772 with order 1
Centerline is valid?  [True, True]
Translation: X:91.73, Y:-1.94, Z:17.46
[[ 9.79001880e-01 -7.26635896e-02 -1.90460812e-01  9.17326752e+01]
 [ 7.53935694e-02  9.97128456e-01  7.11701944e-03 -1.94065593e+00]
 [ 1.89396747e-01 -2.13270958e-02  9.81669001e-01  1.74623911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 92.94486062399999 meters
Centerline goodness : 0.996522 with order 1
Centerline is valid?  [True, True]
Translation: X:91.79, Y:-1.94, Z:17.47
[[ 9.78981531e-01 -7.29384967e-02 -1.90460329e-01  9.17933014e+01]
 [ 7.56760430e-02  9.97106966e-01  7.12991210e-03 -1.94271702e+00]
 [ 1.89389276e-01 -2.13933363e-02  9.81669001e-01  1.74730176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.00486062399999 meters
Centerline goodness : 0.996916 with order 1
Centerline is valid?  [True, True]
Translation: X:91.85, Y:-1.94, Z:17.48
[[ 9.79003470e-01 -7.26440600e-02 -1.90460091e-01  9.18524328e+01]
 [ 7.53773749e-02  9.97129543e-01  7.13626297e-03 -1.94260887e+00]
 [ 1.89394976e-01 -2.13428079e-02  9.81669001e-01  1.74837422e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.06486062399999 meters
Centerline goodness : 0.996826 with order 1
Centerline is valid?  [True, True]
Translation: X:91.91, Y:-1.94, Z:17.49
[[ 9.78961582e-01 -7.32064130e-02 -1.90460077e-01  9.19119099e+01]
 [ 7.59502088e-02  9.97086072e-01  7.13662330e-03 -1.94313508e+00]
 [ 1.89382644e-01 -2.14519627e-02  9.81669001e-01  1.74945732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.124860624 meters
Centerline goodness : 0.996847 with order 1
Centerline is valid?  [True, True]
Translation: X:91.97, Y:-1.94, Z:17.50
[[ 9.78880202e-01 -7.42867333e-02 -1.90460052e-01  9.19718182e+01]
 [ 7.70506575e-02  9.97001633e-01  7.13729096e-03 -1.94404629e+00]
 [ 1.89358777e-01 -2.16616251e-02  9.81669001e-01  1.75048103e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.184860624 meters
Centerline goodness : 0.997198 with order 1
Centerline is valid?  [True, True]
Translation: X:92.03, Y:-1.95, Z:17.52
[[ 9.78790301e-01 -7.54623002e-02 -1.90459935e-01  9.20317822e+01]
 [ 7.82485851e-02  9.96908307e-01  7.14041132e-03 -1.94575017e+00]
 [ 1.89332260e-01 -2.18921858e-02  9.81669001e-01  1.75152772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.24486062399998 meters
Centerline goodness : 0.997311 with order 1
Centerline is valid?  [True, True]
Translation: X:92.09, Y:-1.95, Z:17.53
[[ 9.78648220e-01 -7.72833600e-02 -1.90459820e-01  9.20924145e+01]
 [ 8.01039444e-02  9.96760918e-01  7.14350016e-03 -1.94790914e+00]
 [ 1.89290831e-01 -2.22475565e-02  9.81669001e-01  1.75276710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.30486062399999 meters
Centerline goodness : 0.997672 with order 1
Centerline is valid?  [True, True]
Translation: X:92.15, Y:-1.95, Z:17.54
[[ 9.78601526e-01 -7.78735738e-02 -1.90459341e-01  9.21517752e+01]
 [ 8.07075270e-02  9.96712137e-01  7.15624097e-03 -1.95051164e+00]
 [ 1.89275855e-01 -2.23746107e-02  9.81669001e-01  1.75386414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.36486062399999 meters
Centerline goodness : 0.997603 with order 1
Centerline is valid?  [True, True]
Translation: X:92.21, Y:-1.95, Z:17.55
[[ 9.78593886e-01 -7.79698016e-02 -1.90459223e-01  9.22114292e+01]
 [ 8.08061358e-02  9.96704125e-01  7.15936782e-03 -1.95397659e+00]
 [ 1.89273279e-01 -2.23963874e-02  9.81669001e-01  1.75515331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.42486062399999 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:92.27, Y:-1.96, Z:17.57
[[ 9.78580109e-01 -7.81430734e-02 -1.90459001e-01  9.22723985e+01]
 [ 8.09837482e-02  9.96689667e-01  7.16527594e-03 -1.95742580e+00]
 [ 1.89268602e-01 -2.24358803e-02  9.81669001e-01  1.75652682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.48486062399999 meters
Centerline goodness : 0.997742 with order 1
Centerline is valid?  [True, True]
Translation: X:92.33, Y:-1.96, Z:17.58
[[ 9.78563304e-01 -7.83543914e-02 -1.90458523e-01  9.23335113e+01]
 [ 8.12014139e-02  9.96671865e-01  7.17797506e-03 -1.96141847e+00]
 [ 1.89262225e-01 -2.24896043e-02  9.81669001e-01  1.75757331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.544860624 meters
Centerline goodness : 0.997544 with order 1
Centerline is valid?  [True, True]
Translation: X:92.39, Y:-1.96, Z:17.59
[[ 9.78685472e-01 -7.68145744e-02 -1.90458050e-01  9.23934207e+01]
 [ 7.96355029e-02  9.96798116e-01  7.19048971e-03 -1.96460707e+00]
 [ 1.89295891e-01 -2.22044504e-02  9.81669001e-01  1.75858908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.60486062399998 meters
Centerline goodness : 0.997563 with order 1
Centerline is valid?  [True, True]
Translation: X:92.45, Y:-1.97, Z:17.60
[[ 9.78942929e-01 -7.34613032e-02 -1.90457813e-01  9.24522752e+01]
 [ 7.62213690e-02  9.97064947e-01  7.19676329e-03 -1.96597659e+00]
 [ 1.89370126e-01 -2.15621758e-02  9.81669001e-01  1.76003374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.66486062399999 meters
Centerline goodness : 0.997361 with order 1
Centerline is valid?  [True, True]
Translation: X:92.51, Y:-1.97, Z:17.61
[[ 9.79149233e-01 -7.06584381e-02 -1.90457778e-01  9.25107866e+01]
 [ 7.33667895e-02  9.97279052e-01  7.19768708e-03 -1.96738740e+00]
 [ 1.89430975e-01 -2.10208855e-02  9.81669001e-01  1.76100005e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.72486062399999 meters
Centerline goodness : 0.997629 with order 1
Centerline is valid?  [True, True]
Translation: X:92.57, Y:-1.97, Z:17.62
[[ 9.79420670e-01 -6.67902648e-02 -1.90457901e-01  9.25701500e+01]
 [ 6.94263567e-02  9.97561137e-01  7.19443115e-03 -1.97014212e+00]
 [ 1.89512882e-01 -2.02691727e-02  9.81669001e-01  1.76232454e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.78486062399999 meters
Centerline goodness : 0.997477 with order 1
Centerline is valid?  [True, True]
Translation: X:92.63, Y:-1.97, Z:17.63
[[ 9.79478458e-01 -6.59377138e-02 -1.90457784e-01  9.26300271e+01]
 [ 6.85586125e-02  9.97621127e-01  7.19754158e-03 -1.97168359e+00]
 [ 1.89530119e-01 -2.01073583e-02  9.81669001e-01  1.76347118e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.84486062399999 meters
Centerline goodness : 0.997646 with order 1
Centerline is valid?  [True, True]
Translation: X:92.69, Y:-1.97, Z:17.65
[[ 9.79504787e-01 -6.55454113e-02 -1.90457796e-01  9.26897047e+01]
 [ 6.81589795e-02  9.97648512e-01  7.19720954e-03 -1.97375829e+00]
 [ 1.89538193e-01 -2.00311102e-02  9.81669001e-01  1.76458529e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.904860624 meters
Centerline goodness : 0.997361 with order 1
Centerline is valid?  [True, True]
Translation: X:92.75, Y:-1.98, Z:17.66
[[ 9.79391389e-01 -6.72188958e-02 -1.90457677e-01  9.27487472e+01]
 [ 6.98640687e-02  9.97530534e-01  7.20037310e-03 -1.97719359e+00]
 [ 1.89503347e-01 -2.03581316e-02  9.81669001e-01  1.76553163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 93.96486062399998 meters
Centerline goodness : 0.997172 with order 1
Centerline is valid?  [True, True]
Translation: X:92.81, Y:-1.98, Z:17.67
[[ 9.79237879e-01 -6.94191918e-02 -1.90457743e-01  9.28085623e+01]
 [ 7.21047744e-02  9.97371085e-01  7.19861353e-03 -1.98041474e+00]
 [ 1.89457324e-01 -2.07820676e-02  9.81669001e-01  1.76689565e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.02486062399998 meters
Centerline goodness : 0.997239 with order 1
Centerline is valid?  [True, True]
Translation: X:92.87, Y:-1.98, Z:17.68
[[ 9.79114225e-01 -7.11426476e-02 -1.90457499e-01  9.28684097e+01]
 [ 7.38613812e-02  9.97242490e-01  7.20506106e-03 -1.98353021e+00]
 [ 1.89419723e-01 -2.11220317e-02  9.81669001e-01  1.76805262e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.08486062399999 meters
Centerline goodness : 0.997017 with order 1
Centerline is valid?  [True, True]
Translation: X:92.93, Y:-1.99, Z:17.69
[[ 9.79018738e-01 -7.24448819e-02 -1.90457477e-01  9.29292225e+01]
 [ 7.51878387e-02  9.97143354e-01  7.20565253e-03 -1.98797040e+00]
 [ 1.89391394e-01 -2.13745549e-02  9.81669001e-01  1.76923552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.14486062399999 meters
Centerline goodness : 0.996790 with order 1
Centerline is valid?  [True, True]
Translation: X:92.99, Y:-1.99, Z:17.70
[[ 9.78805232e-01 -7.52758505e-02 -1.90456986e-01  9.29880473e+01]
 [ 7.80736970e-02  9.96921456e-01  7.21859930e-03 -1.99331051e+00]
 [ 1.89327270e-01 -2.19352838e-02  9.81669001e-01  1.77044083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.20486062399999 meters
Centerline goodness : 0.996665 with order 1
Centerline is valid?  [True, True]
Translation: X:93.05, Y:-2.00, Z:17.72
[[ 9.78649637e-01 -7.72725044e-02 -1.90456944e-01  9.30472198e+01]
 [ 8.01075140e-02  9.96760083e-01  7.21969836e-03 -1.99874227e+00]
 [ 1.89281995e-01 -2.23225875e-02  9.81669001e-01  1.77157206e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.264860624 meters
Centerline goodness : 0.997072 with order 1
Centerline is valid?  [True, True]
Translation: X:93.11, Y:-2.00, Z:17.73
[[ 9.78638877e-01 -7.74087296e-02 -1.90456918e-01  9.31067597e+01]
 [ 8.02463929e-02  9.96748906e-01  7.22038982e-03 -2.00301712e+00]
 [ 1.89278804e-01 -2.23496349e-02  9.81669001e-01  1.77253320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.32486062399998 meters
Centerline goodness : 0.996699 with order 1
Centerline is valid?  [True, True]
Translation: X:93.17, Y:-2.01, Z:17.74
[[ 9.78723145e-01 -7.63361944e-02 -1.90456796e-01  9.31662530e+01]
 [ 7.91546256e-02  9.96836178e-01  7.22360089e-03 -2.00676460e+00]
 [ 1.89302803e-01 -2.21454418e-02  9.81669001e-01  1.77382709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.38486062399998 meters
Centerline goodness : 0.997463 with order 1
Centerline is valid?  [True, True]
Translation: X:93.23, Y:-2.01, Z:17.75
[[ 9.78917147e-01 -7.38071527e-02 -1.90456619e-01  9.32253974e+01]
 [ 7.65796717e-02  9.97037264e-01  7.22827103e-03 -2.00987322e+00]
 [ 1.89358848e-01 -2.16609838e-02  9.81669001e-01  1.77491282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.44486062399999 meters
Centerline goodness : 0.997819 with order 1
Centerline is valid?  [True, True]
Translation: X:93.28, Y:-2.01, Z:17.76
[[ 9.79019156e-01 -7.24414534e-02 -1.90456630e-01  9.32848388e+01]
 [ 7.51886347e-02  9.97143132e-01  7.22797568e-03 -2.01238999e+00]
 [ 1.89388916e-01 -2.13965007e-02  9.81669001e-01  1.77598155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.50486062399999 meters
Centerline goodness : 0.997245 with order 1
Centerline is valid?  [True, True]
Translation: X:93.34, Y:-2.02, Z:17.77
[[ 9.79304470e-01 -6.84768080e-02 -1.90456508e-01  9.33442626e+01]
 [ 7.11512007e-02  9.97439330e-01  7.23119081e-03 -2.01526091e+00]
 [ 1.89473643e-01 -2.06327467e-02  9.81669001e-01  1.77717076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.56486062399999 meters
Centerline goodness : 0.996762 with order 1
Centerline is valid?  [True, True]
Translation: X:93.40, Y:-2.02, Z:17.78
[[ 9.79503588e-01 -6.55670576e-02 -1.90456511e-01  9.34032653e+01]
 [ 6.81875476e-02  9.97646315e-01  7.23112084e-03 -2.01785342e+00]
 [ 1.89534113e-01 -2.00696712e-02  9.81669001e-01  1.77831812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.624860624 meters
Centerline goodness : 0.996896 with order 1
Centerline is valid?  [True, True]
Translation: X:93.46, Y:-2.02, Z:17.80
[[ 9.79774619e-01 -6.13841154e-02 -1.90456522e-01  9.34622953e+01]
 [ 6.39270559e-02  9.97928378e-01  7.23081637e-03 -2.02065395e+00]
 [ 1.89618111e-01 -1.92598951e-02  9.81669001e-01  1.77951053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.684860624 meters
Centerline goodness : 0.996879 with order 1
Centerline is valid?  [True, True]
Translation: X:93.52, Y:-2.02, Z:17.80
[[ 9.79864837e-01 -5.99266673e-02 -1.90456544e-01  9.35205994e+01]
 [ 6.24424919e-02  9.98022374e-01  7.23024467e-03 -2.02380831e+00]
 [ 1.89646608e-01 -1.89772437e-02  9.81669001e-01  1.78044475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.74486062399998 meters
Centerline goodness : 0.997291 with order 1
Centerline is valid?  [True, True]
Translation: X:93.58, Y:-2.03, Z:17.82
[[ 9.79822302e-01 -6.06176781e-02 -1.90456697e-01  9.35795618e+01]
 [ 6.31455331e-02  9.97978168e-01  7.22622136e-03 -2.02768768e+00]
 [ 1.89633589e-01 -1.91069025e-02  9.81669001e-01  1.78168370e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.80486062399999 meters
Centerline goodness : 0.997672 with order 1
Centerline is valid?  [True, True]
Translation: X:93.64, Y:-2.03, Z:17.83
[[ 9.79674298e-01 -6.29640428e-02 -1.90456818e-01  9.36377046e+01]
 [ 6.55347570e-02  9.97824145e-01  7.22302747e-03 -2.03135291e+00]
 [ 1.89587620e-01 -1.95577556e-02  9.81669001e-01  1.78279693e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.86486062399999 meters
Centerline goodness : 0.997278 with order 1
Centerline is valid?  [True, True]
Translation: X:93.70, Y:-2.04, Z:17.84
[[ 9.79353074e-01 -6.77769290e-02 -1.90456937e-01  9.36961392e+01]
 [ 7.04361859e-02  9.97490159e-01  7.21987586e-03 -2.03657219e+00]
 [ 1.89489580e-01 -2.04858679e-02  9.81669001e-01  1.78394788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.92486062399999 meters
Centerline goodness : 0.996867 with order 1
Centerline is valid?  [True, True]
Translation: X:93.76, Y:-2.04, Z:17.85
[[ 9.79114682e-01 -7.11375502e-02 -1.90457052e-01  9.37553617e+01]
 [ 7.38584560e-02  9.97242621e-01  7.21685856e-03 -2.04079512e+00]
 [ 1.89418500e-01 -2.11329959e-02  9.81669001e-01  1.78505666e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 94.98486062399999 meters
Centerline goodness : 0.996987 with order 1
Centerline is valid?  [True, True]
Translation: X:93.81, Y:-2.04, Z:17.86
[[ 9.78826937e-01 -7.49926638e-02 -1.90457156e-01  9.38133299e+01]
 [ 7.77844072e-02  9.96944102e-01  7.21411139e-03 -2.04467413e+00]
 [ 1.89334133e-01 -2.18759635e-02  9.81669001e-01  1.78604096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.044860624 meters
Centerline goodness : 0.997726 with order 1
Centerline is valid?  [True, True]
Translation: X:93.87, Y:-2.05, Z:17.87
[[ 9.78628250e-01 -7.75418316e-02 -1.90457380e-01  9.38712468e+01]
 [ 8.03796187e-02  9.96738260e-01  7.20820162e-03 -2.04727450e+00]
 [ 1.89277220e-01 -2.23630413e-02  9.81669001e-01  1.78704962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.10486062399998 meters
Centerline goodness : 0.997265 with order 1
Centerline is valid?  [True, True]
Translation: X:93.93, Y:-2.05, Z:17.89
[[ 9.78489301e-01 -7.92751152e-02 -1.90457720e-01  9.39301723e+01]
 [ 8.21432476e-02  9.96594531e-01  7.19919748e-03 -2.04920648e+00]
 [ 1.89238405e-01 -2.26891534e-02  9.81669001e-01  1.78850213e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.16486062399999 meters
Centerline goodness : 0.996779 with order 1
Centerline is valid?  [True, True]
Translation: X:93.99, Y:-2.05, Z:17.90
[[ 9.78512110e-01 -7.89932588e-02 -1.90457649e-01  9.39899424e+01]
 [ 8.18565351e-02  9.96618108e-01  7.20106945e-03 -2.05084311e+00]
 [ 1.89244706e-01 -2.26365369e-02  9.81669002e-01  1.78975677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.22486062399999 meters
Centerline goodness : 0.996781 with order 1
Centerline is valid?  [True, True]
Translation: X:94.05, Y:-2.05, Z:17.91
[[ 9.78712659e-01 -7.64687034e-02 -1.90457524e-01  9.40497391e+01]
 [ 7.92858947e-02  9.96825885e-01  7.20436700e-03 -2.05253951e+00]
 [ 1.89302082e-01 -2.21516004e-02  9.81669002e-01  1.79098471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.28486062399999 meters
Centerline goodness : 0.996892 with order 1
Centerline is valid?  [True, True]
Translation: X:94.11, Y:-2.05, Z:17.92
[[ 9.78868156e-01 -7.44517985e-02 -1.90457509e-01  9.41097580e+01]
 [ 7.72317368e-02  9.96987136e-01  7.20476946e-03 -2.05429622e+00]
 [ 1.89347279e-01 -2.17618836e-02  9.81669002e-01  1.79206129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.34486062399999 meters
Centerline goodness : 0.997067 with order 1
Centerline is valid?  [True, True]
Translation: X:94.17, Y:-2.06, Z:17.93
[[ 9.79090843e-01 -7.14640724e-02 -1.90457362e-01  9.41697513e+01]
 [ 7.41894490e-02  9.97218111e-01  7.20866308e-03 -2.05602514e+00]
 [ 1.89412370e-01 -2.11878627e-02  9.81669002e-01  1.79321136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.404860624 meters
Centerline goodness : 0.997178 with order 1
Centerline is valid?  [True, True]
Translation: X:94.23, Y:-2.06, Z:17.94
[[ 9.79208888e-01 -6.98280918e-02 -1.90457324e-01  9.42293148e+01]
 [ 7.25233703e-02  9.97340655e-01  7.20966727e-03 -2.05784182e+00]
 [ 1.89447395e-01 -2.08723773e-02  9.81669002e-01  1.79431840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.46486062399998 meters
Centerline goodness : 0.997065 with order 1
Centerline is valid?  [True, True]
Translation: X:94.29, Y:-2.06, Z:17.95
[[ 9.79311668e-01 -6.83718665e-02 -1.90457202e-01  9.42879854e+01]
 [ 7.10407970e-02  9.97447332e-01  7.21288366e-03 -2.05921310e+00]
 [ 1.89477870e-01 -2.05938926e-02  9.81669002e-01  1.79530787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.52486062399998 meters
Centerline goodness : 0.997633 with order 1
Centerline is valid?  [True, True]
Translation: X:94.35, Y:-2.06, Z:17.96
[[ 9.79343653e-01 -6.79116846e-02 -1.90457379e-01  9.43464699e+01]
 [ 7.05711958e-02  9.97480701e-01  7.20821602e-03 -2.06077432e+00]
 [ 1.89488037e-01 -2.05001256e-02  9.81669002e-01  1.79648521e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.58486062399999 meters
Centerline goodness : 0.997214 with order 1
Centerline is valid?  [True, True]
Translation: X:94.41, Y:-2.06, Z:17.98
[[ 9.79357566e-01 -6.77100765e-02 -1.90457617e-01  9.44056736e+01]
 [ 7.03646429e-02  9.97495338e-01  7.20191589e-03 -2.05959086e+00]
 [ 1.89492943e-01 -2.04547330e-02  9.81669002e-01  1.79770950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.64486062399999 meters
Centerline goodness : 0.997271 with order 1
Centerline is valid?  [True, True]
Translation: X:94.46, Y:-2.06, Z:17.99
[[ 9.79355643e-01 -6.77378804e-02 -1.90457617e-01  9.44633309e+01]
 [ 7.03929617e-02  9.97493340e-01  7.20191589e-03 -2.05915491e+00]
 [ 1.89492362e-01 -2.04601127e-02  9.81669002e-01  1.79872412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.70486062399999 meters
Centerline goodness : 0.998102 with order 1
Centerline is valid?  [True, True]
Translation: X:94.52, Y:-2.06, Z:18.00
[[ 9.79412159e-01 -6.69147670e-02 -1.90457968e-01  9.45230029e+01]
 [ 6.95528185e-02  9.97552340e-01  7.19262977e-03 -2.05703804e+00]
 [ 1.89510498e-01 -2.02914375e-02  9.81669002e-01  1.80008801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.764860624 meters
Centerline goodness : 0.997591 with order 1
Centerline is valid?  [True, True]
Translation: X:94.58, Y:-2.06, Z:18.01
[[ 9.79459025e-01 -6.62255720e-02 -1.90457846e-01  9.45824740e+01]
 [ 6.88514757e-02  9.97600969e-01  7.19584134e-03 -2.05558679e+00]
 [ 1.89524383e-01 -2.01613355e-02  9.81669002e-01  1.80128181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.82486062399998 meters
Centerline goodness : 0.997824 with order 1
Centerline is valid?  [True, True]
Translation: X:94.64, Y:-2.05, Z:18.02
[[ 9.79476979e-01 -6.59595070e-02 -1.90457846e-01  9.46423634e+01]
 [ 6.85804825e-02  9.97619636e-01  7.19584134e-03 -2.05413349e+00]
 [ 1.89529853e-01 -2.01098519e-02  9.81669002e-01  1.80249127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.88486062399998 meters
Centerline goodness : 0.997907 with order 1
Centerline is valid?  [True, True]
Translation: X:94.70, Y:-2.05, Z:18.04
[[ 9.79496401e-01 -6.56711752e-02 -1.90457601e-01  9.47026886e+01]
 [ 6.82880565e-02  9.97639648e-01  7.20232433e-03 -2.05220559e+00]
 [ 1.89535069e-01 -2.00606302e-02  9.81669002e-01  1.80362183e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 95.94486062399999 meters
Centerline goodness : 0.998099 with order 1
Centerline is valid?  [True, True]
Translation: X:94.76, Y:-2.05, Z:18.05
[[ 9.79499297e-01 -6.56286771e-02 -1.90457356e-01  9.47628501e+01]
 [ 6.82460185e-02  9.97642478e-01  7.20881049e-03 -2.05139668e+00]
 [ 1.89535243e-01 -2.00589810e-02  9.81669002e-01  1.80476540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.00486062399999 meters
Centerline goodness : 0.998093 with order 1
Centerline is valid?  [True, True]
Translation: X:94.82, Y:-2.05, Z:18.06
[[ 9.79502851e-01 -6.55759577e-02 -1.90457234e-01  9.48220310e+01]
 [ 6.81929416e-02  9.97646084e-01  7.21202989e-03 -2.04841652e+00]
 [ 1.89535978e-01 -2.00520428e-02  9.81669002e-01  1.80586728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.06486062399999 meters
Centerline goodness : 0.998294 with order 1
Centerline is valid?  [True, True]
Translation: X:94.88, Y:-2.05, Z:18.07
[[ 9.79474063e-01 -6.60049110e-02 -1.90457113e-01  9.48811482e+01]
 [ 6.86304506e-02  9.97616059e-01  7.21520483e-03 -2.04806943e+00]
 [ 1.89526836e-01 -2.01382635e-02  9.81669002e-01  1.80700120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.124860624 meters
Centerline goodness : 0.998058 with order 1
Centerline is valid?  [True, True]
Translation: X:94.94, Y:-2.05, Z:18.08
[[ 9.79428546e-01 -6.66769232e-02 -1.90457113e-01  9.49394750e+01]
 [ 6.93149097e-02  9.97568737e-01  7.21520483e-03 -2.04636686e+00]
 [ 1.89512974e-01 -2.02682952e-02  9.81669002e-01  1.80792505e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.18486062399998 meters
Centerline goodness : 0.998340 with order 1
Centerline is valid?  [True, True]
Translation: X:95.00, Y:-2.04, Z:18.09
[[ 9.79481494e-01 -6.58941019e-02 -1.90457264e-01  9.49985113e+01]
 [ 6.85168252e-02  9.97623898e-01  7.21123215e-03 -2.04249489e+00]
 [ 1.89529540e-01 -2.01127955e-02  9.81669002e-01  1.80930368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.24486062399998 meters
Centerline goodness : 0.998401 with order 1
Centerline is valid?  [True, True]
Translation: X:95.06, Y:-2.04, Z:18.11
[[ 9.79526062e-01 -6.52282429e-02 -1.90457264e-01  9.50589768e+01]
 [ 6.78386325e-02  9.97670245e-01  7.21123215e-03 -2.04074679e+00]
 [ 1.89543169e-01 -1.99839502e-02  9.81669002e-01  1.81051728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.30486062399999 meters
Centerline goodness : 0.998437 with order 1
Centerline is valid?  [True, True]
Translation: X:95.12, Y:-2.04, Z:18.12
[[ 9.79552624e-01 -6.48288350e-02 -1.90457024e-01  9.51185551e+01]
 [ 6.74330419e-02  9.97697696e-01  7.21755432e-03 -2.04161841e+00]
 [ 1.89550629e-01 -1.99130708e-02  9.81669002e-01  1.81162831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.36486062399999 meters
Centerline goodness : 0.998429 with order 1
Centerline is valid?  [True, True]
Translation: X:95.18, Y:-2.04, Z:18.13
[[ 9.79625323e-01 -6.37208643e-02 -1.90457024e-01  9.51781971e+01]
 [ 6.63045464e-02  9.97773328e-01  7.21755432e-03 -2.03797419e+00]
 [ 1.89573030e-01 -1.96986656e-02  9.81669002e-01  1.81279584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.42486062399999 meters
Centerline goodness : 0.998434 with order 1
Centerline is valid?  [True, True]
Translation: X:95.24, Y:-2.03, Z:18.14
[[ 9.79688011e-01 -6.27496768e-02 -1.90457029e-01  9.52373614e+01]
 [ 6.53153442e-02  9.97838571e-01  7.21743816e-03 -2.03459431e+00]
 [ 1.89592477e-01 -1.95106040e-02  9.81669002e-01  1.81397216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.48486062399999 meters
Centerline goodness : 0.998213 with order 1
Centerline is valid?  [True, True]
Translation: X:95.30, Y:-2.03, Z:18.15
[[ 9.79767282e-01 -6.14991702e-02 -1.90457147e-01  9.52970196e+01]
 [ 6.40410666e-02  9.97921187e-01  7.21430965e-03 -2.03272454e+00]
 [ 1.89617548e-01 -1.92654234e-02  9.81669002e-01  1.81505455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.544860624 meters
Centerline goodness : 0.998264 with order 1
Centerline is valid?  [True, True]
Translation: X:95.36, Y:-2.03, Z:18.16
[[ 9.79835028e-01 -6.04101399e-02 -1.90457167e-01  9.53562843e+01]
 [ 6.29317556e-02  9.97991761e-01  7.21378290e-03 -2.02895241e+00]
 [ 1.89638898e-01 -1.90541211e-02  9.81669002e-01  1.81622288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.60486062399998 meters
Centerline goodness : 0.998331 with order 1
Centerline is valid?  [True, True]
Translation: X:95.42, Y:-2.03, Z:18.18
[[ 9.79853882e-01 -6.01035577e-02 -1.90457167e-01  9.54156309e+01]
 [ 6.26194923e-02  9.98011403e-01  7.21378290e-03 -2.02622698e+00]
 [ 1.89644850e-01 -1.89947843e-02  9.81669002e-01  1.81752844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.66486062399999 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:95.47, Y:-2.02, Z:18.19
[[ 9.79810096e-01 -6.08131895e-02 -1.90457167e-01  9.54741625e+01]
 [ 6.33422738e-02  9.97965790e-01  7.21378289e-03 -2.02334932e+00]
 [ 1.89631044e-01 -1.91321273e-02  9.81669002e-01  1.81862253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.72486062399999 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:95.53, Y:-2.02, Z:18.20
[[ 9.79743142e-01 -6.18817875e-02 -1.90457400e-01  9.55335674e+01]
 [ 6.44294896e-02  9.97896233e-01  7.20763758e-03 -2.02279313e+00]
 [ 1.89610700e-01 -1.93327065e-02  9.81669002e-01  1.81978966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.78486062399999 meters
Centerline goodness : 0.998180 with order 1
Centerline is valid?  [True, True]
Translation: X:95.59, Y:-2.02, Z:18.21
[[ 9.79677913e-01 -6.29060060e-02 -1.90457400e-01  9.55924354e+01]
 [ 6.54726844e-02  9.97828331e-01  7.20763758e-03 -2.02047131e+00]
 [ 1.89590385e-01 -1.95309206e-02  9.81669002e-01  1.82085700e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.84486062399999 meters
Centerline goodness : 0.998541 with order 1
Centerline is valid?  [True, True]
Translation: X:95.65, Y:-2.02, Z:18.22
[[ 9.79617156e-01 -6.38451720e-02 -1.90457400e-01  9.56527788e+01]
 [ 6.64292497e-02  9.97765105e-01  7.20763758e-03 -2.01992424e+00]
 [ 1.89571574e-01 -1.97126676e-02  9.81669002e-01  1.82214008e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.904860624 meters
Centerline goodness : 0.998486 with order 1
Centerline is valid?  [True, True]
Translation: X:95.71, Y:-2.02, Z:18.23
[[ 9.79535570e-01 -6.50856166e-02 -1.90457161e-01  9.57130030e+01]
 [ 6.76938832e-02  9.97680058e-01  7.21393084e-03 -2.01835168e+00]
 [ 1.89545788e-01 -1.99590867e-02  9.81669002e-01  1.82328201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 96.96486062399998 meters
Centerline goodness : 0.998307 with order 1
Centerline is valid?  [True, True]
Translation: X:95.77, Y:-2.02, Z:18.25
[[ 9.79508793e-01 -6.54879056e-02 -1.90456971e-01  9.57727112e+01]
 [ 6.81045868e-02  9.97652070e-01  7.21893799e-03 -2.01773129e+00]
 [ 1.89537039e-01 -2.00420066e-02  9.81669002e-01  1.82463226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.02486062399998 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:95.83, Y:-2.02, Z:18.26
[[ 9.79490916e-01 -6.57554740e-02 -1.90456722e-01  9.58343374e+01]
 [ 6.83783769e-02  9.97633294e-01  7.22552050e-03 -2.01708915e+00]
 [ 1.89530849e-01 -2.01004532e-02  9.81669002e-01  1.82581123e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.08486062399999 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:95.90, Y:-2.02, Z:18.27
[[ 9.79455552e-01 -6.62815631e-02 -1.90456231e-01  9.58952666e+01]
 [ 6.89166931e-02  9.97596158e-01  7.23843430e-03 -2.01759688e+00]
 [ 1.89518630e-01 -2.02153383e-02  9.81669002e-01  1.82711820e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.14486062399999 meters
Centerline goodness : 0.998716 with order 1
Centerline is valid?  [True, True]
Translation: X:95.96, Y:-2.02, Z:18.28
[[ 9.79370733e-01 -6.75246752e-02 -1.90455731e-01  9.59556376e+01]
 [ 7.01853506e-02  9.97507610e-01  7.25155853e-03 -2.01815545e+00]
 [ 1.89491382e-01 -2.04691665e-02  9.81669002e-01  1.82834900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.20486062399999 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:96.01, Y:-2.02, Z:18.29
[[ 9.79262222e-01 -6.90815181e-02 -1.90455359e-01  9.60141364e+01]
 [ 7.17728985e-02  9.97394568e-01  7.26131895e-03 -2.02020583e+00]
 [ 1.89457518e-01 -2.07802685e-02  9.81669002e-01  1.82942695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.264860624 meters
Centerline goodness : 0.998565 with order 1
Centerline is valid?  [True, True]
Translation: X:96.07, Y:-2.02, Z:18.31
[[ 9.79179597e-01 -7.02430843e-02 -1.90455312e-01  9.60741812e+01]
 [ 7.29562084e-02  9.97308702e-01  7.26255148e-03 -2.02254658e+00]
 [ 1.89432596e-01 -2.10062397e-02  9.81669002e-01  1.83061377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.32486062399998 meters
Centerline goodness : 0.998815 with order 1
Centerline is valid?  [True, True]
Translation: X:96.13, Y:-2.03, Z:18.32
[[ 9.79062993e-01 -7.18506831e-02 -1.90455075e-01  9.61349236e+01]
 [ 7.45947651e-02  9.97187438e-01  7.26877657e-03 -2.02606805e+00]
 [ 1.89397141e-01 -2.13235417e-02  9.81669002e-01  1.83172654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.38486062399998 meters
Centerline goodness : 0.998745 with order 1
Centerline is valid?  [True, True]
Translation: X:96.19, Y:-2.03, Z:18.33
[[ 9.78872730e-01 -7.43988215e-02 -1.90454704e-01  9.61943621e+01]
 [ 7.71919335e-02  9.96989684e-01  7.27848241e-03 -2.03039667e+00]
 [ 1.89339864e-01 -2.18262748e-02  9.81669002e-01  1.83306159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.44486062399999 meters
Centerline goodness : 0.998676 with order 1
Centerline is valid?  [True, True]
Translation: X:96.25, Y:-2.03, Z:18.34
[[ 9.78749522e-01 -7.60025837e-02 -1.90454668e-01  9.62539917e+01]
 [ 7.88255549e-02  9.96861847e-01  7.27941305e-03 -2.03428724e+00]
 [ 1.89303738e-01 -2.21374169e-02  9.81669002e-01  1.83418511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.50486062399999 meters
Centerline goodness : 0.998435 with order 1
Centerline is valid?  [True, True]
Translation: X:96.31, Y:-2.04, Z:18.35
[[ 9.78653793e-01 -7.72261120e-02 -1.90454405e-01  9.63134750e+01]
 [ 8.00730452e-02  9.96762368e-01  7.28629608e-03 -2.03866833e+00]
 [ 1.89275091e-01 -2.23810255e-02  9.81669002e-01  1.83533355e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.56486062399999 meters
Centerline goodness : 0.998292 with order 1
Centerline is valid?  [True, True]
Translation: X:96.37, Y:-2.04, Z:18.37
[[ 9.78692331e-01 -7.67367973e-02 -1.90454157e-01  9.63741498e+01]
 [ 7.95759164e-02  9.96802131e-01  7.29275760e-03 -2.04307775e+00]
 [ 1.89285487e-01 -2.22929300e-02  9.81669002e-01  1.83667026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.624860624 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:96.43, Y:-2.05, Z:18.38
[[ 9.78765298e-01 -7.58016793e-02 -1.90453660e-01  9.64336256e+01]
 [ 7.86259837e-02  9.96877415e-01  7.30572574e-03 -2.04599025e+00]
 [ 1.89305166e-01 -2.21251972e-02  9.81669002e-01  1.83764253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.68486062399998 meters
Centerline goodness : 0.998785 with order 1
Centerline is valid?  [True, True]
Translation: X:96.49, Y:-2.05, Z:18.39
[[ 9.78870114e-01 -7.44358962e-02 -1.90453662e-01  9.64927825e+01]
 [ 7.72349152e-02  9.96986156e-01  7.30567334e-03 -2.05064029e+00]
 [ 1.89335860e-01 -2.18609777e-02  9.81669002e-01  1.83914759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.74486062399998 meters
Centerline goodness : 0.998496 with order 1
Centerline is valid?  [True, True]
Translation: X:96.55, Y:-2.05, Z:18.40
[[ 9.78934016e-01 -7.35910548e-02 -1.90453536e-01  9.65532341e+01]
 [ 7.63750698e-02  9.97052370e-01  7.30896523e-03 -2.05437246e+00]
 [ 1.89354275e-01 -2.17008968e-02  9.81669002e-01  1.84018021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.80486062399999 meters
Centerline goodness : 0.998548 with order 1
Centerline is valid?  [True, True]
Translation: X:96.61, Y:-2.06, Z:18.41
[[ 9.79031338e-01 -7.22857644e-02 -1.90453162e-01  9.66123352e+01]
 [ 7.50474853e-02  9.97153104e-01  7.31867957e-03 -2.05985504e+00]
 [ 1.89381926e-01 -2.14582476e-02  9.81669002e-01  1.84140993e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.86486062399999 meters
Centerline goodness : 0.998309 with order 1
Centerline is valid?  [True, True]
Translation: X:96.67, Y:-2.06, Z:18.43
[[ 9.79100286e-01 -7.13457790e-02 -1.90453171e-01  9.66727630e+01]
 [ 7.40900589e-02  9.97224700e-01  7.31846483e-03 -2.06408119e+00]
 [ 1.89402464e-01 -2.12761976e-02  9.81669002e-01  1.84258917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.92486062399999 meters
Centerline goodness : 0.998554 with order 1
Centerline is valid?  [True, True]
Translation: X:96.73, Y:-2.07, Z:18.44
[[ 9.79268441e-01 -6.90003577e-02 -1.90452804e-01  9.67319727e+01]
 [ 7.17030478e-02  9.97399104e-01  7.32799318e-03 -2.06929671e+00]
 [ 1.89451822e-01 -2.08321190e-02  9.81669002e-01  1.84369887e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 97.98486062399999 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:96.79, Y:-2.07, Z:18.45
[[ 9.79354204e-01 -6.77722000e-02 -1.90452808e-01  9.67913390e+01]
 [ 7.04521301e-02  9.97488245e-01  7.32788841e-03 -2.07357992e+00]
 [ 1.89477810e-01 -2.05944043e-02  9.81669002e-01  1.84501535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.044860624 meters
Centerline goodness : 0.998608 with order 1
Centerline is valid?  [True, True]
Translation: X:96.85, Y:-2.08, Z:18.46
[[ 9.79424727e-01 -6.67456256e-02 -1.90452687e-01  9.68504687e+01]
 [ 6.94071484e-02  9.97561479e-01  7.33101919e-03 -2.07964997e+00]
 [ 1.89498951e-01 -2.03989594e-02  9.81669002e-01  1.84596455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.10486062399998 meters
Centerline goodness : 0.998350 with order 1
Centerline is valid?  [True, True]
Translation: X:96.91, Y:-2.08, Z:18.47
[[ 9.79457027e-01 -6.62698270e-02 -1.90452730e-01  9.69106565e+01]
 [ 6.89223245e-02  9.97595101e-01  7.32990446e-03 -2.08442827e+00]
 [ 1.89508959e-01 -2.03057713e-02  9.81669002e-01  1.84727381e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.16486062399999 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:96.97, Y:-2.09, Z:18.49
[[ 9.79468325e-01 -6.61036915e-02 -1.90452363e-01  9.69707265e+01]
 [ 6.87549449e-02  9.97606581e-01  7.33943644e-03 -2.09107546e+00]
 [ 1.89511367e-01 -2.02832872e-02  9.81669002e-01  1.84850589e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.22486062399999 meters
Centerline goodness : 0.998553 with order 1
Centerline is valid?  [True, True]
Translation: X:97.03, Y:-2.09, Z:18.50
[[ 9.79465029e-01 -6.61532285e-02 -1.90452113e-01  9.70311112e+01]
 [ 6.88066468e-02  9.97602968e-01  7.34592627e-03 -2.09490768e+00]
 [ 1.89509636e-01 -2.02994491e-02  9.81669002e-01  1.84962420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.28486062399999 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:97.09, Y:-2.10, Z:18.51
[[ 9.79465441e-01 -6.61478352e-02 -1.90451866e-01  9.70900858e+01]
 [ 6.88023842e-02  9.97603215e-01  7.35232796e-03 -2.09971635e+00]
 [ 1.89509053e-01 -2.03048936e-02  9.81669002e-01  1.85062691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.34486062399999 meters
Centerline goodness : 0.998467 with order 1
Centerline is valid?  [True, True]
Translation: X:97.15, Y:-2.10, Z:18.52
[[ 9.79521725e-01 -6.53090919e-02 -1.90451866e-01  9.71494036e+01]
 [ 6.79481085e-02  9.97661765e-01  7.35232796e-03 -2.10449395e+00]
 [ 1.89526371e-01 -2.01426090e-02  9.81669002e-01  1.85215763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.404860624 meters
Centerline goodness : 0.998659 with order 1
Centerline is valid?  [True, True]
Translation: X:97.21, Y:-2.11, Z:18.53
[[ 9.79497463e-01 -6.56726986e-02 -1.90451611e-01  9.72082266e+01]
 [ 6.83197166e-02  9.97636338e-01  7.35892215e-03 -2.10913817e+00]
 [ 1.89518167e-01 -2.02196457e-02  9.81669002e-01  1.85328789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.46486062399998 meters
Centerline goodness : 0.998527 with order 1
Centerline is valid?  [True, True]
Translation: X:97.27, Y:-2.11, Z:18.55
[[ 9.79425482e-01 -6.67392177e-02 -1.90451048e-01  9.72685111e+01]
 [ 6.94087808e-02  9.97561052e-01  7.37346579e-03 -2.11454013e+00]
 [ 1.89494448e-01 -2.04407353e-02  9.81669002e-01  1.85462061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.52486062399998 meters
Centerline goodness : 0.999067 with order 1
Centerline is valid?  [True, True]
Translation: X:97.33, Y:-2.12, Z:18.56
[[ 9.79348505e-01 -6.78608304e-02 -1.90450554e-01  9.73281905e+01]
 [ 7.05536064e-02  9.97480643e-01  7.38619131e-03 -2.11964433e+00]
 [ 1.89469508e-01 -2.06706289e-02  9.81669003e-01  1.85584412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.58486062399999 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:97.39, Y:-2.13, Z:18.57
[[ 9.79152342e-01 -7.06351593e-02 -1.90450429e-01  9.73870488e+01]
 [ 7.33799168e-02  9.97276684e-01  7.38942936e-03 -2.12622277e+00]
 [ 1.89409818e-01 -2.12106137e-02  9.81669003e-01  1.85683884e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.64486062399999 meters
Centerline goodness : 0.998755 with order 1
Centerline is valid?  [True, True]
Translation: X:97.45, Y:-2.13, Z:18.58
[[ 9.79059378e-01 -7.19119512e-02 -1.90450532e-01  9.74470123e+01]
 [ 7.46798314e-02  9.97180204e-01  7.38677475e-03 -2.13165543e+00]
 [ 1.89382302e-01 -2.14549047e-02  9.81669003e-01  1.85823215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.70486062399999 meters
Centerline goodness : 0.998966 with order 1
Centerline is valid?  [True, True]
Translation: X:97.51, Y:-2.14, Z:18.59
[[ 9.79023090e-01 -7.24063099e-02 -1.90449771e-01  9.75069817e+01]
 [ 7.51870972e-02  9.97141939e-01  7.40634094e-03 -2.13741488e+00]
 [ 1.89369188e-01 -2.15703442e-02  9.81669003e-01  1.85921843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.764860624 meters
Centerline goodness : 0.998973 with order 1
Centerline is valid?  [True, True]
Translation: X:97.57, Y:-2.14, Z:18.60
[[ 9.78894470e-01 -7.41258815e-02 -1.90449391e-01  9.75664823e+01]
 [ 7.69403636e-02  9.97008115e-01  7.41609622e-03 -2.14363961e+00]
 [ 1.89329864e-01 -2.19128210e-02  9.81669003e-01  1.86043051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.82486062399998 meters
Centerline goodness : 0.998591 with order 1
Centerline is valid?  [True, True]
Translation: X:97.63, Y:-2.15, Z:18.62
[[ 9.78832231e-01 -7.49435819e-02 -1.90449267e-01  9.76267529e+01]
 [ 7.77738023e-02  9.96943424e-01  7.41926311e-03 -2.14852219e+00]
 [ 1.89311119e-01 -2.20741775e-02  9.81669003e-01  1.86159471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.88486062399998 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:97.69, Y:-2.16, Z:18.63
[[ 9.78688242e-01 -7.68016606e-02 -1.90449021e-01  9.76857092e+01]
 [ 7.96674713e-02  9.96793838e-01  7.42558501e-03 -2.15554040e+00]
 [ 1.89268113e-01 -2.24399247e-02  9.81669003e-01  1.86287535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 98.94486062399999 meters
Centerline goodness : 0.998735 with order 1
Centerline is valid?  [True, True]
Translation: X:97.75, Y:-2.16, Z:18.63
[[ 9.78654178e-01 -7.72345825e-02 -1.90448992e-01  9.77471531e+01]
 [ 8.01085423e-02  9.96758482e-01  7.42631617e-03 -2.15973122e+00]
 [ 1.89258080e-01 -2.25243865e-02  9.81669003e-01  1.86345692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.00486062399999 meters
Centerline goodness : 0.998493 with order 1
Centerline is valid?  [True, True]
Translation: X:97.81, Y:-2.17, Z:18.65
[[ 9.78684381e-01 -7.68518568e-02 -1.90448615e-01  9.78068397e+01]
 [ 7.97205895e-02  9.96789513e-01  7.43597347e-03 -2.16522877e+00]
 [ 1.89265714e-01 -2.24601470e-02  9.81669003e-01  1.86518592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.06486062399999 meters
Centerline goodness : 0.998878 with order 1
Centerline is valid?  [True, True]
Translation: X:97.87, Y:-2.17, Z:18.66
[[ 9.78675865e-01 -7.69614866e-02 -1.90448106e-01  9.78662973e+01]
 [ 7.98347475e-02  9.96780279e-01  7.44900267e-03 -2.16941457e+00]
 [ 1.89261630e-01 -2.24945356e-02  9.81669003e-01  1.86628464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.124860624 meters
Centerline goodness : 0.998769 with order 1
Centerline is valid?  [True, True]
Translation: X:97.93, Y:-2.17, Z:18.67
[[ 9.78593305e-01 -7.80045577e-02 -1.90447979e-01  9.79258314e+01]
 [ 8.08977357e-02  9.96694547e-01  7.45224618e-03 -2.17467362e+00]
 [ 1.89237153e-01 -2.26995285e-02  9.81669003e-01  1.86735472e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.18486062399998 meters
Centerline goodness : 0.998662 with order 1
Centerline is valid?  [True, True]
Translation: X:97.99, Y:-2.18, Z:18.69
[[ 9.78521993e-01 -7.88941477e-02 -1.90447952e-01  9.79867315e+01]
 [ 8.18039096e-02  9.96620577e-01  7.45292151e-03 -2.17907088e+00]
 [ 1.89216356e-01 -2.28722347e-02  9.81669003e-01  1.86855172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.24486062399998 meters
Centerline goodness : 0.998616 with order 1
Centerline is valid?  [True, True]
Translation: X:98.05, Y:-2.18, Z:18.70
[[ 9.78423047e-01 -8.01130758e-02 -1.90447465e-01  9.80465001e+01]
 [ 8.30477690e-02  9.96517605e-01  7.46536967e-03 -2.18348400e+00]
 [ 1.89186177e-01 -2.31205268e-02  9.81669003e-01  1.86977364e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.30486062399999 meters
Centerline goodness : 0.998109 with order 1
Centerline is valid?  [True, True]
Translation: X:98.11, Y:-2.19, Z:18.71
[[ 9.78361221e-01 -8.08650293e-02 -1.90447285e-01  9.81068997e+01]
 [ 8.38145037e-02  9.96453375e-01  7.46993467e-03 -2.18820999e+00]
 [ 1.89167784e-01 -2.32705391e-02  9.81669003e-01  1.87124325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.36486062399999 meters
Centerline goodness : 0.997980 with order 1
Centerline is valid?  [True, True]
Translation: X:98.17, Y:-2.19, Z:18.72
[[ 9.78377908e-01 -8.06641061e-02 -1.90446769e-01  9.81676221e+01]
 [ 8.36123870e-02  9.96470257e-01  7.48308705e-03 -2.19230579e+00]
 [ 1.89170924e-01 -2.32449960e-02  9.81669003e-01  1.87235721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.42486062399999 meters
Centerline goodness : 0.998448 with order 1
Centerline is valid?  [True, True]
Translation: X:98.23, Y:-2.20, Z:18.73
[[ 9.78461729e-01 -7.96418244e-02 -1.90446382e-01  9.82287277e+01]
 [ 8.25730845e-02  9.96556843e-01  7.49291156e-03 -2.19737839e+00]
 [ 1.89193896e-01 -2.30572724e-02  9.81669003e-01  1.87348408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.48486062399999 meters
Centerline goodness : 0.998073 with order 1
Centerline is valid?  [True, True]
Translation: X:98.29, Y:-2.20, Z:18.75
[[ 9.78543823e-01 -7.86279718e-02 -1.90445869e-01  9.82898982e+01]
 [ 8.15429787e-02  9.96641562e-01  7.50593035e-03 -2.20093131e+00]
 [ 1.89216092e-01 -2.28744052e-02  9.81669003e-01  1.87471461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.54486062399998 meters
Centerline goodness : 0.998009 with order 1
Centerline is valid?  [True, True]
Translation: X:98.35, Y:-2.21, Z:18.76
[[ 9.78686990e-01 -7.68266853e-02 -1.90445360e-01  9.83486630e+01]
 [ 7.97108490e-02  9.96789671e-01  7.51882070e-03 -2.20507680e+00]
 [ 1.89256322e-01 -2.25391333e-02  9.81669003e-01  1.87575139e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.60486062399998 meters
Centerline goodness : 0.998251 with order 1
Centerline is valid?  [True, True]
Translation: X:98.41, Y:-2.21, Z:18.77
[[ 9.78769234e-01 -7.57713775e-02 -1.90445492e-01  9.84096465e+01]
 [ 7.86353811e-02  9.96875115e-01  7.51548952e-03 -2.20863039e+00]
 [ 1.89280912e-01 -2.23316837e-02  9.81669003e-01  1.87682566e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.66486062399999 meters
Centerline goodness : 0.997941 with order 1
Centerline is valid?  [True, True]
Translation: X:98.47, Y:-2.21, Z:18.78
[[ 9.78844335e-01 -7.47961888e-02 -1.90445001e-01  9.84691132e+01]
 [ 7.76445353e-02  9.96952685e-01  7.52790709e-03 -2.21190724e+00]
 [ 1.89301596e-01 -2.21556628e-02  9.81669003e-01  1.87781866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.72486062399999 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:98.53, Y:-2.21, Z:18.79
[[ 9.78874716e-01 -7.43975358e-02 -1.90444996e-01  9.85280155e+01]
 [ 7.72385324e-02  9.96984221e-01  7.52803836e-03 -2.21486259e+00]
 [ 1.89310588e-01 -2.20786984e-02  9.81669003e-01  1.87886377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.78486062399999 meters
Centerline goodness : 0.997887 with order 1
Centerline is valid?  [True, True]
Translation: X:98.59, Y:-2.22, Z:18.80
[[ 9.78872753e-01 -7.44248819e-02 -1.90444400e-01  9.85882914e+01]
 [ 7.72692703e-02  9.96981726e-01  7.54307356e-03 -2.21858249e+00]
 [ 1.89308194e-01 -2.20992090e-02  9.81669004e-01  1.88018276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.84486062399999 meters
Centerline goodness : 0.997836 with order 1
Centerline is valid?  [True, True]
Translation: X:98.65, Y:-2.22, Z:18.82
[[ 9.78715157e-01 -7.64703333e-02 -1.90444030e-01  9.86475178e+01]
 [ 7.93543483e-02  9.96817861e-01  7.55239960e-03 -2.22223694e+00]
 [ 1.89260477e-01 -2.25042099e-02  9.81669004e-01  1.88157872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.904860624 meters
Centerline goodness : 0.997552 with order 1
Centerline is valid?  [True, True]
Translation: X:98.71, Y:-2.23, Z:18.83
[[ 9.78579866e-01 -7.81827044e-02 -1.90443981e-01  9.87067747e+01]
 [ 8.10986294e-02  9.96677458e-01  7.55364807e-03 -2.22611125e+00]
 [ 1.89220658e-01 -2.28365937e-02  9.81669004e-01  1.88275081e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 99.96486062399998 meters
Centerline goodness : 0.997386 with order 1
Centerline is valid?  [True, True]
Translation: X:98.77, Y:-2.23, Z:18.84
[[ 9.78311191e-01 -8.14758825e-02 -1.90443942e-01  9.87651159e+01]
 [ 8.44528907e-02  9.96398834e-01  7.55463076e-03 -2.23081778e+00]
 [ 1.89142601e-01 -2.34743212e-02  9.81669004e-01  1.88383495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.02486062399998 meters
Centerline goodness : 0.997409 with order 1
Centerline is valid?  [True, True]
Translation: X:98.83, Y:-2.23, Z:18.85
[[ 9.78182848e-01 -8.30022896e-02 -1.90444048e-01  9.88251458e+01]
 [ 8.60070032e-02  9.96265910e-01  7.55194950e-03 -2.23396818e+00]
 [ 1.89106084e-01 -2.37667093e-02  9.81669004e-01  1.88499777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.08486062399999 meters
Centerline goodness : 0.997542 with order 1
Centerline is valid?  [True, True]
Translation: X:98.89, Y:-2.24, Z:18.86
[[ 9.78178390e-01 -8.30552487e-02 -1.90443859e-01  9.88850639e+01]
 [ 8.60618547e-02  9.96261137e-01  7.55671474e-03 -2.23770597e+00]
 [ 1.89104191e-01 -2.37817668e-02  9.81669004e-01  1.88606769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.14486062399999 meters
Centerline goodness : 0.997297 with order 1
Centerline is valid?  [True, True]
Translation: X:98.95, Y:-2.24, Z:18.87
[[ 9.78240425e-01 -8.23219507e-02 -1.90443606e-01  9.89450115e+01]
 [ 8.53162225e-02  9.96325219e-01  7.56309023e-03 -2.24016149e+00]
 [ 1.89121159e-01 -2.36464497e-02  9.81669004e-01  1.88719397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.20486062399999 meters
Centerline goodness : 0.997299 with order 1
Centerline is valid?  [True, True]
Translation: X:99.01, Y:-2.24, Z:18.88
[[ 9.78321616e-01 -8.13516744e-02 -1.90443482e-01  9.90060743e+01]
 [ 8.43286039e-02  9.96409273e-01  7.56619905e-03 -2.24252381e+00]
 [ 1.89144129e-01 -2.34620091e-02  9.81669004e-01  1.88843608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.264860624 meters
Centerline goodness : 0.997631 with order 1
Centerline is valid?  [True, True]
Translation: X:99.07, Y:-2.24, Z:18.90
[[ 9.78368701e-01 -8.07846021e-02 -1.90442990e-01  9.90663139e+01]
 [ 8.37534210e-02  9.96457691e-01  7.57858156e-03 -2.24491078e+00]
 [ 1.89156149e-01 -2.33648989e-02  9.81669004e-01  1.88988555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.32486062399998 meters
Centerline goodness : 0.997763 with order 1
Centerline is valid?  [True, True]
Translation: X:99.13, Y:-2.25, Z:18.91
[[ 9.78337610e-01 -8.11611776e-02 -1.90442599e-01  9.91251725e+01]
 [ 8.41388389e-02  9.96425146e-01  7.58838824e-03 -2.24861958e+00]
 [ 1.89145912e-01 -2.34476248e-02  9.81669004e-01  1.89089168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.38486062399998 meters
Centerline goodness : 0.997610 with order 1
Centerline is valid?  [True, True]
Translation: X:99.19, Y:-2.25, Z:18.92
[[ 9.78315813e-01 -8.14247062e-02 -1.90442086e-01  9.91859472e+01]
 [ 8.44097032e-02  9.96402139e-01  7.60123950e-03 -2.25211138e+00]
 [ 1.89137973e-01 -2.35115727e-02  9.81669004e-01  1.89206569e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.44486062399999 meters
Centerline goodness : 0.997694 with order 1
Centerline is valid?  [True, True]
Translation: X:99.24, Y:-2.25, Z:18.93
[[ 9.78262648e-01 -8.20618730e-02 -1.90441700e-01  9.92441644e+01]
 [ 8.50605009e-02  9.96346719e-01  7.61090079e-03 -2.25402966e+00]
 [ 1.89121398e-01 -2.36445263e-02  9.81669004e-01  1.89319027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.50486062399999 meters
Centerline goodness : 0.997329 with order 1
Centerline is valid?  [True, True]
Translation: X:99.31, Y:-2.26, Z:18.94
[[ 9.78274769e-01 -8.19170072e-02 -1.90441801e-01  9.93052037e+01]
 [ 8.49124716e-02  9.96359365e-01  7.60836747e-03 -2.25741375e+00]
 [ 1.89125217e-01 -2.36139580e-02  9.81669004e-01  1.89421318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.56486062399999 meters
Centerline goodness : 0.997549 with order 1
Centerline is valid?  [True, True]
Translation: X:99.37, Y:-2.26, Z:18.95
[[ 9.78290863e-01 -8.17253668e-02 -1.90441464e-01  9.93668894e+01]
 [ 8.47189035e-02  9.96375778e-01  7.61679365e-03 -2.26141120e+00]
 [ 1.89128777e-01 -2.35854317e-02  9.81669004e-01  1.89526084e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.624860624 meters
Centerline goodness : 0.997349 with order 1
Centerline is valid?  [True, True]
Translation: X:99.43, Y:-2.26, Z:18.96
[[ 9.78354242e-01 -8.09645543e-02 -1.90440853e-01  9.94269830e+01]
 [ 8.39469515e-02  9.96440997e-01  7.63205374e-03 -2.26427660e+00]
 [ 1.89145147e-01 -2.34537812e-02  9.81669004e-01  1.89640736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.68486062399998 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:99.49, Y:-2.27, Z:18.98
[[ 9.78408646e-01 -8.03050161e-02 -1.90440611e-01  9.94867971e+01]
 [ 8.32763762e-02  9.96497218e-01  7.63808387e-03 -2.26685310e+00]
 [ 1.89160162e-01 -2.33323712e-02  9.81669004e-01  1.89760185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.74486062399998 meters
Centerline goodness : 0.997241 with order 1
Centerline is valid?  [True, True]
Translation: X:99.55, Y:-2.27, Z:18.99
[[ 9.78435806e-01 -7.99739778e-02 -1.90440373e-01  9.95465056e+01]
 [ 8.29403541e-02  9.96525196e-01  7.64401159e-03 -2.26926940e+00]
 [ 1.89167308e-01 -2.32743666e-02  9.81669004e-01  1.89934890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.80486062399999 meters
Centerline goodness : 0.997397 with order 1
Centerline is valid?  [True, True]
Translation: X:99.61, Y:-2.27, Z:19.00
[[ 9.78370157e-01 -8.07743819e-02 -1.90439847e-01  9.96074903e+01]
 [ 8.37580608e-02  9.96456701e-01  7.65707889e-03 -2.27183536e+00]
 [ 1.89146566e-01 -2.34423298e-02  9.81669004e-01  1.90008559e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.86486062399999 meters
Centerline goodness : 0.997505 with order 1
Centerline is valid?  [True, True]
Translation: X:99.67, Y:-2.27, Z:19.02
[[ 9.78245799e-01 -8.22676632e-02 -1.90439459e-01  9.96668089e+01]
 [ 8.52807962e-02  9.96327460e-01  7.66673474e-03 -2.27477846e+00]
 [ 1.89109338e-01 -2.37407797e-02  9.81669004e-01  1.90164004e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.92486062399999 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:99.73, Y:-2.28, Z:19.03
[[ 9.78061147e-01 -8.44352562e-02 -1.90439178e-01  9.97260162e+01]
 [ 8.74897831e-02  9.96135860e-01  7.67368904e-03 -2.27697339e+00]
 [ 1.89055365e-01 -2.41668195e-02  9.81669004e-01  1.90259788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 100.98486062399999 meters
Centerline goodness : 0.997571 with order 1
Centerline is valid?  [True, True]
Translation: X:99.79, Y:-2.28, Z:19.04
[[ 9.77936788e-01 -8.58647892e-02 -1.90438642e-01  9.97872237e+01]
 [ 8.89482771e-02  9.96006584e-01  7.68697520e-03 -2.27856028e+00]
 [ 1.89018101e-01 -2.44565650e-02  9.81669004e-01  1.90379772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.04486062399998 meters
Centerline goodness : 0.997566 with order 1
Centerline is valid?  [True, True]
Translation: X:99.85, Y:-2.28, Z:19.05
[[ 9.77837745e-01 -8.69865451e-02 -1.90438143e-01  9.98468561e+01]
 [ 9.00931244e-02  9.95903584e-01  7.69932728e-03 -2.27918803e+00]
 [ 1.88988291e-01 -2.46858601e-02  9.81669004e-01  1.90531971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.10486062399998 meters
Centerline goodness : 0.997453 with order 1
Centerline is valid?  [True, True]
Translation: X:99.91, Y:-2.28, Z:19.07
[[ 9.77847935e-01 -8.68724951e-02 -1.90437881e-01  9.99074918e+01]
 [ 8.99782077e-02  9.95913923e-01  7.70580449e-03 -2.28052485e+00]
 [ 1.88990314e-01 -2.46703642e-02  9.81669004e-01  1.90663859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.16486062399999 meters
Centerline goodness : 0.997642 with order 1
Centerline is valid?  [True, True]
Translation: X:99.97, Y:-2.28, Z:19.08
[[ 9.77903828e-01 -8.62422143e-02 -1.90437350e-01  9.99686866e+01]
 [ 8.93387885e-02  9.95971385e-01  7.71889363e-03 -2.28058864e+00]
 [ 1.89004457e-01 -2.45617778e-02  9.81669004e-01  1.90780035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.22486062399999 meters
Centerline goodness : 0.997506 with order 1
Centerline is valid?  [True, True]
Translation: X:100.03, Y:-2.28, Z:19.09
[[ 9.77956942e-01 -8.56389925e-02 -1.90436823e-01  1.00029123e+02]
 [ 8.87269090e-02  9.96025980e-01  7.73188231e-03 -2.28098976e+00]
 [ 1.89017873e-01 -2.44583186e-02  9.81669005e-01  1.90888097e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.28486062399999 meters
Centerline goodness : 0.997573 with order 1
Centerline is valid?  [True, True]
Translation: X:100.09, Y:-2.28, Z:19.10
[[ 9.78090155e-01 -8.41044764e-02 -1.90436566e-01  1.00089187e+02]
 [ 8.71652518e-02  9.96163811e-01  7.73821435e-03 -2.28079098e+00]
 [ 1.89055196e-01 -2.41681225e-02  9.81669005e-01  1.91002640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.34486062399999 meters
Centerline goodness : 0.997369 with order 1
Centerline is valid?  [True, True]
Translation: X:100.15, Y:-2.28, Z:19.11
[[ 9.78240662e-01 -8.23357249e-02 -1.90436435e-01  1.00148629e+02]
 [ 8.53644293e-02  9.96319720e-01  7.74142527e-03 -2.28111380e+00]
 [ 1.89098180e-01 -2.38294746e-02  9.81669005e-01  1.91129111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.404860624 meters
Centerline goodness : 0.997654 with order 1
Centerline is valid?  [True, True]
Translation: X:100.21, Y:-2.28, Z:19.12
[[ 9.78362251e-01 -8.08781914e-02 -1.90436406e-01  1.00210365e+02]
 [ 8.38800944e-02  9.96445778e-01  7.74214145e-03 -2.28176508e+00]
 [ 1.89133382e-01 -2.35484426e-02  9.81669005e-01  1.91242189e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.46486062399998 meters
Centerline goodness : 0.997513 with order 1
Centerline is valid?  [True, True]
Translation: X:100.27, Y:-2.28, Z:19.14
[[ 9.78480317e-01 -7.94386366e-02 -1.90435741e-01  1.00270164e+02]
 [ 8.24170589e-02  9.96567727e-01  7.75846193e-03 -2.28209463e+00]
 [ 1.89165792e-01 -2.32866560e-02  9.81669005e-01  1.91362477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.52486062399998 meters
Centerline goodness : 0.997895 with order 1
Centerline is valid?  [True, True]
Translation: X:100.33, Y:-2.28, Z:19.15
[[ 9.78548886e-01 -7.85897990e-02 -1.90435609e-01  1.00330653e+02]
 [ 8.15531510e-02  9.96638771e-01  7.76170181e-03 -2.28239578e+00]
 [ 1.89185521e-01 -2.31258286e-02  9.81669005e-01  1.91473228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.58486062399999 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:100.39, Y:-2.28, Z:19.16
[[ 9.78582339e-01 -7.81727909e-02 -1.90435344e-01  1.00390036e+02]
 [ 8.11296814e-02  9.96673281e-01  7.76820769e-03 -2.28336271e+00]
 [ 1.89194556e-01 -2.30517896e-02  9.81669005e-01  1.91597816e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.64486062399999 meters
Centerline goodness : 0.997246 with order 1
Centerline is valid?  [True, True]
Translation: X:100.45, Y:-2.28, Z:19.17
[[ 9.78532708e-01 -7.87919349e-02 -1.90435211e-01  1.00448996e+02]
 [ 8.17608953e-02  9.96621674e-01  7.77146388e-03 -2.28472855e+00]
 [ 1.89179530e-01 -2.31747849e-02  9.81669005e-01  1.91705306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.70486062399999 meters
Centerline goodness : 0.997198 with order 1
Centerline is valid?  [True, True]
Translation: X:100.51, Y:-2.29, Z:19.18
[[ 9.78418541e-01 -8.01971833e-02 -1.90435211e-01  1.00509102e+02]
 [ 8.31921193e-02  9.96503224e-01  7.77146388e-03 -2.28503953e+00]
 [ 1.89146052e-01 -2.34464531e-02  9.81669005e-01  1.91813152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.764860624 meters
Centerline goodness : 0.997106 with order 1
Centerline is valid?  [True, True]
Translation: X:100.57, Y:-2.28, Z:19.19
[[ 9.78419694e-01 -8.01831733e-02 -1.90435189e-01  1.00569878e+02]
 [ 8.31779504e-02  9.96504403e-01  7.77198564e-03 -2.28446150e+00]
 [ 1.89146322e-01 -2.34442726e-02  9.81669005e-01  1.91944080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.82486062399998 meters
Centerline goodness : 0.997089 with order 1
Centerline is valid?  [True, True]
Translation: X:100.63, Y:-2.28, Z:19.21
[[ 9.78545701e-01 -7.86318691e-02 -1.90434607e-01  1.00630319e+02]
 [ 8.16007036e-02  9.96634687e-01  7.78623957e-03 -2.28320815e+00]
 [ 1.89181488e-01 -2.31587892e-02  9.81669005e-01  1.92066155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.88486062399998 meters
Centerline goodness : 0.997570 with order 1
Centerline is valid?  [True, True]
Translation: X:100.69, Y:-2.28, Z:19.22
[[ 9.78701674e-01 -7.66667819e-02 -1.90434338e-01  1.00689491e+02]
 [ 7.96005455e-02  9.96796381e-01  7.79279839e-03 -2.28288366e+00]
 [ 1.89226810e-01 -2.27855020e-02  9.81669005e-01  1.92165774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 101.94486062399999 meters
Centerline goodness : 0.997653 with order 1
Centerline is valid?  [True, True]
Translation: X:100.75, Y:-2.28, Z:19.23
[[ 9.78898054e-01 -7.41170177e-02 -1.90434418e-01  1.00748321e+02]
 [ 7.70032601e-02  9.97000402e-01  7.79084497e-03 -2.28239034e+00]
 [ 1.89285757e-01 -2.22905140e-02  9.81669005e-01  1.92312171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.00486062399999 meters
Centerline goodness : 0.998007 with order 1
Centerline is valid?  [True, True]
Translation: X:100.81, Y:-2.28, Z:19.24
[[ 9.79126301e-01 -7.10382375e-02 -1.90434384e-01  1.00807387e+02]
 [ 7.38676975e-02  9.97237611e-01  7.79167681e-03 -2.28130161e+00]
 [ 1.89354823e-01 -2.16959852e-02  9.81669005e-01  1.92439411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.06486062399999 meters
Centerline goodness : 0.997596 with order 1
Centerline is valid?  [True, True]
Translation: X:100.87, Y:-2.28, Z:19.25
[[ 9.79161566e-01 -7.05504807e-02 -1.90434391e-01  1.00867321e+02]
 [ 7.33708855e-02  9.97274288e-01  7.79150585e-03 -2.28307277e+00]
 [ 1.89365627e-01 -2.16014830e-02  9.81669005e-01  1.92542043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.124860624 meters
Centerline goodness : 0.997710 with order 1
Centerline is valid?  [True, True]
Translation: X:100.93, Y:-2.28, Z:19.27
[[ 9.79208666e-01 -6.98947877e-02 -1.90433995e-01  1.00927158e+02]
 [ 7.27049201e-02  9.97322985e-01  7.80117843e-03 -2.28442877e+00]
 [ 1.89378939e-01 -2.14844699e-02  9.81669005e-01  1.92661216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.18486062399998 meters
Centerline goodness : 0.997287 with order 1
Centerline is valid?  [True, True]
Translation: X:100.99, Y:-2.28, Z:19.28
[[ 9.79186130e-01 -7.02098436e-02 -1.90433978e-01  1.00987022e+02]
 [ 7.30258841e-02  9.97299531e-01  7.80159462e-03 -2.28406699e+00]
 [ 1.89371968e-01 -2.15458228e-02  9.81669005e-01  1.92794626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.24486062399998 meters
Centerline goodness : 0.997059 with order 1
Centerline is valid?  [True, True]
Translation: X:101.05, Y:-2.29, Z:19.29
[[ 9.79128321e-01 -7.10121981e-02 -1.90433711e-01  1.01047158e+02]
 [ 7.38443306e-02  9.97239213e-01  7.80810749e-03 -2.28542529e+00]
 [ 1.89353493e-01 -2.17075891e-02  9.81669005e-01  1.92909117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.30486062399999 meters
Centerline goodness : 0.997628 with order 1
Centerline is valid?  [True, True]
Translation: X:101.11, Y:-2.29, Z:19.30
[[ 9.78996391e-01 -7.28092881e-02 -1.90433384e-01  1.01107491e+02]
 [ 7.56761885e-02  9.97101812e-01  7.81607851e-03 -2.28767309e+00]
 [ 1.89312389e-01 -2.20631853e-02  9.81669005e-01  1.92999127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.36486062399999 meters
Centerline goodness : 0.997304 with order 1
Centerline is valid?  [True, True]
Translation: X:101.17, Y:-2.29, Z:19.31
[[ 9.78920285e-01 -7.38258223e-02 -1.90433251e-01  1.01167624e+02]
 [ 7.67121396e-02  9.97022621e-01  7.81930014e-03 -2.28908055e+00]
 [ 1.89288993e-01 -2.22630137e-02  9.81669005e-01  1.93118410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.42486062399999 meters
Centerline goodness : 0.997366 with order 1
Centerline is valid?  [True, True]
Translation: X:101.23, Y:-2.29, Z:19.33
[[ 9.78811963e-01 -7.52490491e-02 -1.90432987e-01  1.01226855e+02]
 [ 7.81629189e-02  9.96909884e-01  7.82574119e-03 -2.29059610e+00]
 [ 1.89255647e-01 -2.25447272e-02  9.81669005e-01  1.93259483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.48486062399999 meters
Centerline goodness : 0.997212 with order 1
Centerline is valid?  [True, True]
Translation: X:101.29, Y:-2.29, Z:19.34
[[ 9.78451989e-01 -7.97936922e-02 -1.90432852e-01  1.01285542e+02]
 [ 8.27922032e-02  9.96536079e-01  7.82902076e-03 -2.29274361e+00]
 [ 1.89148501e-01 -2.34266763e-02  9.81669005e-01  1.93393854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.54486062399998 meters
Centerline goodness : 0.997371 with order 1
Centerline is valid?  [True, True]
Translation: X:101.34, Y:-2.30, Z:19.35
[[ 9.78176648e-01 -8.31007569e-02 -1.90432954e-01  1.01344671e+02]
 [ 8.61599041e-02  9.96250579e-01  7.82652860e-03 -2.29604604e+00]
 [ 1.89068551e-01 -2.40634126e-02  9.81669005e-01  1.93505582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.60486062399998 meters
Centerline goodness : 0.997693 with order 1
Centerline is valid?  [True, True]
Translation: X:101.40, Y:-2.30, Z:19.36
[[ 9.77909010e-01 -8.61931467e-02 -1.90432954e-01  1.01404503e+02]
 [ 8.93094281e-02  9.95973178e-01  7.82654534e-03 -2.29847700e+00]
 [ 1.88991519e-01 -2.46611074e-02  9.81669005e-01  1.93617491e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.66486062399999 meters
Centerline goodness : 0.997553 with order 1
Centerline is valid?  [True, True]
Translation: X:101.47, Y:-2.30, Z:19.37
[[ 9.77905903e-01 -8.62287290e-02 -1.90432799e-01  1.01465767e+02]
 [ 8.93463876e-02  9.95969834e-01  7.83030542e-03 -2.30028285e+00]
 [ 1.88990126e-01 -2.46717846e-02  9.81669005e-01  1.93744201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.72486062399999 meters
Centerline goodness : 0.997322 with order 1
Centerline is valid?  [True, True]
Translation: X:101.52, Y:-2.30, Z:19.39
[[ 9.78135122e-01 -8.35900368e-02 -1.90432110e-01  1.01524278e+02]
 [ 8.66621492e-02  9.96206854e-01  7.84701893e-03 -2.30262235e+00]
 [ 1.89053841e-01 -2.41787008e-02  9.81669005e-01  1.93876618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.78486062399999 meters
Centerline goodness : 0.997411 with order 1
Centerline is valid?  [True, True]
Translation: X:101.58, Y:-2.30, Z:19.40
[[ 9.78390110e-01 -8.05506293e-02 -1.90432110e-01  1.01583384e+02]
 [ 8.35665792e-02  9.96471300e-01  7.84701893e-03 -2.30496559e+00]
 [ 1.89128050e-01 -2.35912057e-02  9.81669005e-01  1.94003622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.84486062399999 meters
Centerline goodness : 0.997064 with order 1
Centerline is valid?  [True, True]
Translation: X:101.64, Y:-2.31, Z:19.41
[[ 9.78650609e-01 -7.73214960e-02 -1.90432066e-01  1.01642507e+02]
 [ 8.02779675e-02  9.96741619e-01  7.84809361e-03 -2.30738159e+00]
 [ 1.89204740e-01 -2.29680408e-02  9.81669005e-01  1.94137359e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.90486062399998 meters
Centerline goodness : 0.997597 with order 1
Centerline is valid?  [True, True]
Translation: X:101.70, Y:-2.31, Z:19.43
[[ 9.78780283e-01 -7.56624392e-02 -1.90432018e-01  1.01702830e+02]
 [ 7.85884628e-02  9.96876242e-01  7.84925646e-03 -2.31082666e+00]
 [ 1.89243261e-01 -2.26484570e-02  9.81669005e-01  1.94257330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 102.96486062399998 meters
Centerline goodness : 0.997347 with order 1
Centerline is valid?  [True, True]
Translation: X:101.76, Y:-2.31, Z:19.44
[[ 9.78910346e-01 -7.39621707e-02 -1.90431435e-01  1.01762638e+02]
 [ 7.68594678e-02  9.97010927e-01  7.86338618e-03 -2.31390532e+00]
 [ 1.89280628e-01 -2.23340088e-02  9.81669005e-01  1.94363483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.02486062399998 meters
Centerline goodness : 0.997710 with order 1
Centerline is valid?  [True, True]
Translation: X:101.82, Y:-2.32, Z:19.45
[[ 9.79005561e-01 -7.26912177e-02 -1.90431347e-01  1.01823109e+02]
 [ 7.55654223e-02  9.97109824e-01  7.86551941e-03 -2.31635914e+00]
 [ 1.89309212e-01 -2.20904124e-02  9.81669005e-01  1.94474842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.08486062399999 meters
Centerline goodness : 0.997892 with order 1
Centerline is valid?  [True, True]
Translation: X:101.88, Y:-2.32, Z:19.46
[[ 9.79049225e-01 -7.21014625e-02 -1.90431073e-01  1.01883868e+02]
 [ 7.49660310e-02  9.97155015e-01  7.87213796e-03 -2.31919333e+00]
 [ 1.89321707e-01 -2.19830723e-02  9.81669005e-01  1.94591757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.14486062399999 meters
Centerline goodness : 0.997183 with order 1
Centerline is valid?  [True, True]
Translation: X:101.94, Y:-2.32, Z:19.47
[[ 9.79025356e-01 -7.24262696e-02 -1.90430531e-01  1.01944266e+02]
 [ 7.52993565e-02  9.97129796e-01  7.88522663e-03 -2.32175343e+00]
 [ 1.89312859e-01 -2.20591333e-02  9.81669005e-01  1.94728869e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.20486062399999 meters
Centerline goodness : 0.997549 with order 1
Centerline is valid?  [True, True]
Translation: X:102.00, Y:-2.32, Z:19.48
[[ 9.79028878e-01 -7.23800958e-02 -1.90429983e-01  1.02004732e+02]
 [ 7.52548637e-02  9.97133050e-01  7.89843577e-03 -2.32384857e+00]
 [ 1.89312340e-01 -2.20635791e-02  9.81669005e-01  1.94830893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.264860624 meters
Centerline goodness : 0.997586 with order 1
Centerline is valid?  [True, True]
Translation: X:102.07, Y:-2.33, Z:19.50
[[ 9.79018548e-01 -7.25207417e-02 -1.90429580e-01  1.02065395e+02]
 [ 7.53999726e-02  9.97122011e-01  7.90814032e-03 -2.32654322e+00]
 [ 1.89308022e-01 -2.21006012e-02  9.81669005e-01  1.94964960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.32486062399998 meters
Centerline goodness : 0.997431 with order 1
Centerline is valid?  [True, True]
Translation: X:102.13, Y:-2.33, Z:19.51
[[ 9.79013580e-01 -7.25891869e-02 -1.90429045e-01  1.02125240e+02]
 [ 7.54721536e-02  9.97116448e-01  7.92101323e-03 -2.32883790e+00]
 [ 1.89304953e-01 -2.21268696e-02  9.81669006e-01  1.95083111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.38486062399998 meters
Centerline goodness : 0.998008 with order 1
Centerline is valid?  [True, True]
Translation: X:102.19, Y:-2.33, Z:19.52
[[ 9.79050414e-01 -7.20910343e-02 -1.90428912e-01  1.02185856e+02]
 [ 7.49654032e-02  9.97154650e-01  7.92421170e-03 -2.33163209e+00]
 [ 1.89315810e-01 -2.20337829e-02  9.81669006e-01  1.95212626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.44486062399999 meters
Centerline goodness : 0.997546 with order 1
Centerline is valid?  [True, True]
Translation: X:102.24, Y:-2.33, Z:19.53
[[ 9.79144586e-01 -7.08015737e-02 -1.90428509e-01  1.02244093e+02]
 [ 7.36539539e-02  9.97252299e-01  7.93388558e-03 -2.33453634e+00]
 [ 1.89343536e-01 -2.17942337e-02  9.81669006e-01  1.95318042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.50486062399999 meters
Centerline goodness : 0.997273 with order 1
Centerline is valid?  [True, True]
Translation: X:102.30, Y:-2.34, Z:19.54
[[ 9.79189131e-01 -7.01824426e-02 -1.90428647e-01  1.02303655e+02]
 [ 7.30227339e-02  9.97298745e-01  7.93055835e-03 -2.33768434e+00]
 [ 1.89357665e-01 -2.16711370e-02  9.81669006e-01  1.95435529e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.56486062399999 meters
Centerline goodness : 0.997528 with order 1
Centerline is valid?  [True, True]
Translation: X:102.36, Y:-2.34, Z:19.55
[[ 9.79143280e-01 -7.08201405e-02 -1.90428322e-01  1.02363021e+02]
 [ 7.36737229e-02  9.97250803e-01  7.93836064e-03 -2.34132057e+00]
 [ 1.89342601e-01 -2.18023559e-02  9.81669006e-01  1.95533503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.624860624 meters
Centerline goodness : 0.997764 with order 1
Centerline is valid?  [True, True]
Translation: X:102.42, Y:-2.35, Z:19.57
[[ 9.79087165e-01 -7.15938502e-02 -1.90427531e-01  1.02422085e+02]
 [ 7.44653729e-02  9.97191852e-01  7.95728810e-03 -2.34626433e+00]
 [ 1.89323089e-01 -2.19711357e-02  9.81669006e-01  1.95680581e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.68486062399998 meters
Centerline goodness : 0.997309 with order 1
Centerline is valid?  [True, True]
Translation: X:102.48, Y:-2.35, Z:19.58
[[ 9.79003510e-01 -7.27291969e-02 -1.90427394e-01  1.02480912e+02]
 [ 7.56223428e-02  9.97104754e-01  7.96057213e-03 -2.34990031e+00]
 [ 1.89297094e-01 -2.21939937e-02  9.81669006e-01  1.95787489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.74486062399998 meters
Centerline goodness : 0.997662 with order 1
Centerline is valid?  [True, True]
Translation: X:102.54, Y:-2.35, Z:19.59
[[ 9.78989686e-01 -7.29152670e-02 -1.90427307e-01  1.02540737e+02]
 [ 7.58122491e-02  9.97090317e-01  7.96263550e-03 -2.35435357e+00]
 [ 1.89292627e-01 -2.22320605e-02  9.81669006e-01  1.95909055e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.80486062399999 meters
Centerline goodness : 0.997099 with order 1
Centerline is valid?  [True, True]
Translation: X:102.60, Y:-2.36, Z:19.60
[[ 9.78979505e-01 -7.30521779e-02 -1.90427173e-01  1.02602004e+02]
 [ 7.59523074e-02  9.97079632e-01  7.96584625e-03 -2.35798658e+00]
 [ 1.89289133e-01 -2.22617834e-02  9.81669006e-01  1.96035695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.86486062399999 meters
Centerline goodness : 0.997533 with order 1
Centerline is valid?  [True, True]
Translation: X:102.66, Y:-2.36, Z:19.61
[[ 9.78882553e-01 -7.43414192e-02 -1.90426628e-01  1.02660627e+02]
 [ 7.72678814e-02  9.96978441e-01  7.97886753e-03 -2.36185378e+00]
 [ 1.89258082e-01 -2.25242363e-02  9.81669006e-01  1.96132597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.92486062399999 meters
Centerline goodness : 0.997580 with order 1
Centerline is valid?  [True, True]
Translation: X:102.72, Y:-2.36, Z:19.63
[[ 9.78866576e-01 -7.45512148e-02 -1.90426737e-01  1.02720741e+02]
 [ 7.74810529e-02  9.96961918e-01  7.97624806e-03 -2.36490024e+00]
 [ 1.89253566e-01 -2.25621467e-02  9.81669006e-01  1.96253458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 103.98486062399999 meters
Centerline goodness : 0.997148 with order 1
Centerline is valid?  [True, True]
Translation: X:102.78, Y:-2.37, Z:19.64
[[ 9.78810659e-01 -7.52824949e-02 -1.90426470e-01  1.02780697e+02]
 [ 7.82270722e-02  9.96903608e-01  7.98261565e-03 -2.36801660e+00]
 [ 1.89235884e-01 -2.27099745e-02  9.81669006e-01  1.96394988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.04486062399998 meters
Centerline goodness : 0.997217 with order 1
Centerline is valid?  [True, True]
Translation: X:102.84, Y:-2.37, Z:19.65
[[ 9.78827658e-01 -7.50621620e-02 -1.90426067e-01  1.02841136e+02]
 [ 7.80045105e-02  9.96920970e-01  7.99223038e-03 -2.37096538e+00]
 [ 1.89239825e-01 -2.26771083e-02  9.81669006e-01  1.96521162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.10486062399998 meters
Centerline goodness : 0.997669 with order 1
Centerline is valid?  [True, True]
Translation: X:102.90, Y:-2.37, Z:19.66
[[ 9.78952532e-01 -7.34170188e-02 -1.90425529e-01  1.02900207e+02]
 [ 7.63314102e-02  9.97050368e-01  8.00502821e-03 -2.37332335e+00]
 [ 1.89276138e-01 -2.23719918e-02  9.81669006e-01  1.96647501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.16486062399999 meters
Centerline goodness : 0.997808 with order 1
Centerline is valid?  [True, True]
Translation: X:102.96, Y:-2.38, Z:19.68
[[ 9.79170981e-01 -7.04436533e-02 -1.90425529e-01  1.02959491e+02]
 [ 7.33030691e-02  9.97277584e-01  8.00502821e-03 -2.37640397e+00]
 [ 1.89343208e-01 -2.17970670e-02  9.81669006e-01  1.96775727e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.22486062399999 meters
Centerline goodness : 0.997561 with order 1
Centerline is valid?  [True, True]
Translation: X:103.02, Y:-2.38, Z:19.69
[[ 9.79284737e-01 -6.88442071e-02 -1.90425520e-01  1.03019246e+02]
 [ 7.16740832e-02  9.97395981e-01  8.00523089e-03 -2.37973395e+00]
 [ 1.89378535e-01 -2.14879750e-02  9.81669006e-01  1.96897931e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.28486062399999 meters
Centerline goodness : 0.997287 with order 1
Centerline is valid?  [True, True]
Translation: X:103.08, Y:-2.38, Z:19.70
[[ 9.79404259e-01 -6.71228271e-02 -1.90425374e-01  1.03078594e+02]
 [ 6.99215326e-02  9.97520346e-01  8.00870766e-03 -2.38211724e+00]
 [ 1.89415618e-01 -2.11585964e-02  9.81669006e-01  1.96998074e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.34486062399999 meters
Centerline goodness : 0.997561 with order 1
Centerline is valid?  [True, True]
Translation: X:103.14, Y:-2.39, Z:19.71
[[ 9.79493131e-01 -6.58132481e-02 -1.90425374e-01  1.03139175e+02]
 [ 6.85877289e-02  9.97612943e-01  8.00870766e-03 -2.38557945e+00]
 [ 1.89443739e-01 -2.09053181e-02  9.81669006e-01  1.97115930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.40486062399998 meters
Centerline goodness : 0.997429 with order 1
Centerline is valid?  [True, True]
Translation: X:103.20, Y:-2.39, Z:19.72
[[ 9.79595983e-01 -6.42657952e-02 -1.90424833e-01  1.03198600e+02]
 [ 6.70141166e-02  9.97719782e-01  8.02156027e-03 -2.38762050e+00]
 [ 1.89475111e-01 -2.06190402e-02  9.81669006e-01  1.97231406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.46486062399998 meters
Centerline goodness : 0.997142 with order 1
Centerline is valid?  [True, True]
Translation: X:103.26, Y:-2.39, Z:19.73
[[ 9.79719325e-01 -6.23572617e-02 -1.90424833e-01  1.03259520e+02]
 [ 6.50702697e-02  9.97848443e-01  8.02156027e-03 -2.38803716e+00]
 [ 1.89514920e-01 -2.02498728e-02  9.81669006e-01  1.97348089e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.52486062399998 meters
Centerline goodness : 0.997115 with order 1
Centerline is valid?  [True, True]
Translation: X:103.32, Y:-2.39, Z:19.75
[[ 9.79703599e-01 -6.26055072e-02 -1.90424287e-01  1.03319502e+02]
 [ 6.53255925e-02  9.97831656e-01  8.03448527e-03 -2.38986200e+00]
 [ 1.89508379e-01 -2.03109935e-02  9.81669006e-01  1.97467702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.58486062399999 meters
Centerline goodness : 0.997410 with order 1
Centerline is valid?  [True, True]
Translation: X:103.38, Y:-2.39, Z:19.76
[[ 9.79604524e-01 -6.41378984e-02 -1.90424016e-01  1.03378669e+02]
 [ 6.68875701e-02  9.97728118e-01  8.04090600e-03 -2.39064148e+00]
 [ 1.89475669e-01 -2.06139076e-02  9.81669006e-01  1.97574523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.64486062399999 meters
Centerline goodness : 0.997501 with order 1
Centerline is valid?  [True, True]
Translation: X:103.44, Y:-2.39, Z:19.77
[[ 9.79551898e-01 -6.49375429e-02 -1.90423722e-01  1.03439643e+02]
 [ 6.77033469e-02  9.97673037e-01  8.04787550e-03 -2.39192508e+00]
 [ 1.89458004e-01 -2.07756350e-02  9.81669006e-01  1.97705713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.70486062399999 meters
Centerline goodness : 0.997647 with order 1
Centerline is valid?  [True, True]
Translation: X:103.50, Y:-2.39, Z:19.78
[[ 9.79466426e-01 -6.62158177e-02 -1.90423176e-01  1.03498952e+02]
 [ 6.90077430e-02  9.97583558e-01  8.06076435e-03 -2.39319239e+00]
 [ 1.89429280e-01 -2.10359216e-02  9.81669006e-01  1.97819047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.764860624 meters
Centerline goodness : 0.997213 with order 1
Centerline is valid?  [True, True]
Translation: X:103.56, Y:-2.39, Z:19.79
[[ 9.79429183e-01 -6.67648235e-02 -1.90423041e-01  1.03559864e+02]
 [ 6.95675161e-02  9.97544652e-01  8.06395467e-03 -2.39467191e+00]
 [ 1.89417098e-01 -2.11453305e-02  9.81669006e-01  1.97939958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.82486062399998 meters
Centerline goodness : 0.997527 with order 1
Centerline is valid?  [True, True]
Translation: X:103.62, Y:-2.40, Z:19.81
[[ 9.79465268e-01 -6.62348892e-02 -1.90422501e-01  1.03619636e+02]
 [ 6.90302253e-02  9.97581874e-01  8.07668811e-03 -2.39577764e+00]
 [ 1.89427077e-01 -2.10557436e-02  9.81669006e-01  1.98060546e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.88486062399998 meters
Centerline goodness : 0.997158 with order 1
Centerline is valid?  [True, True]
Translation: X:103.68, Y:-2.40, Z:19.82
[[ 9.79482331e-01 -6.59828409e-02 -1.90422234e-01  1.03679723e+02]
 [ 6.87747226e-02  9.97599470e-01  8.08297671e-03 -2.39773076e+00]
 [ 1.89431782e-01 -2.10133692e-02  9.81669006e-01  1.98190647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 104.94486062399999 meters
Centerline goodness : 0.997433 with order 1
Centerline is valid?  [True, True]
Translation: X:103.74, Y:-2.40, Z:19.83
[[ 9.79479196e-01 -6.60301653e-02 -1.90421956e-01  1.03739297e+02]
 [ 6.88241798e-02  9.97596006e-01  8.08952478e-03 -2.39958740e+00]
 [ 1.89430030e-01 -2.10291562e-02  9.81669006e-01  1.98280653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.00486062399999 meters
Centerline goodness : 0.997479 with order 1
Centerline is valid?  [True, True]
Translation: X:103.80, Y:-2.40, Z:19.84
[[ 9.79442036e-01 -6.65808646e-02 -1.90421339e-01  1.03799868e+02]
 [ 6.93878494e-02  9.97556841e-01  8.10402618e-03 -2.40221464e+00]
 [ 1.89416536e-01 -2.11503511e-02  9.81669007e-01  1.98395004e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.06486062399999 meters
Centerline goodness : 0.997086 with order 1
Centerline is valid?  [True, True]
Translation: X:103.86, Y:-2.40, Z:19.85
[[ 9.79381338e-01 -6.74701723e-02 -1.90420512e-01  1.03859811e+02]
 [ 7.02973229e-02  9.97493006e-01  8.12339575e-03 -2.40404319e+00]
 [ 1.89395042e-01 -2.13419545e-02  9.81669007e-01  1.98503078e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.124860624 meters
Centerline goodness : 0.997237 with order 1
Centerline is valid?  [True, True]
Translation: X:103.92, Y:-2.41, Z:19.86
[[ 9.79371921e-01 -6.76071180e-02 -1.90420373e-01  1.03920642e+02]
 [ 7.04374291e-02  9.97483096e-01  8.12666666e-03 -2.40543883e+00]
 [ 1.89391682e-01 -2.13717506e-02  9.81669007e-01  1.98613238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.18486062399998 meters
Centerline goodness : 0.996418 with order 1
Centerline is valid?  [True, True]
Translation: X:103.98, Y:-2.41, Z:19.87
[[ 9.79455832e-01 -6.63820629e-02 -1.90419788e-01  1.03981241e+02]
 [ 6.91923439e-02  9.97570125e-01  8.14034054e-03 -2.40511699e+00]
 [ 1.89416719e-01 -2.11486955e-02  9.81669007e-01  1.98710009e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.24486062399998 meters
Centerline goodness : 0.996867 with order 1
Centerline is valid?  [True, True]
Translation: X:104.04, Y:-2.41, Z:19.88
[[ 9.79516664e-01 -6.54787176e-02 -1.90419650e-01  1.04042467e+02]
 [ 6.82729104e-02  9.97633446e-01  8.14356496e-03 -2.40571189e+00]
 [ 1.89435782e-01 -2.09772613e-02  9.81669007e-01  1.98833884e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.30486062399999 meters
Centerline goodness : 0.997205 with order 1
Centerline is valid?  [True, True]
Translation: X:104.10, Y:-2.40, Z:19.89
[[ 9.79629317e-01 -6.37728046e-02 -1.90419093e-01  1.04101681e+02]
 [ 6.65379446e-02  9.97750556e-01  8.15658705e-03 -2.40473762e+00]
 [ 1.89470587e-01 -2.06605268e-02  9.81669007e-01  1.98936006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.36486062399999 meters
Centerline goodness : 0.997152 with order 1
Centerline is valid?  [True, True]
Translation: X:104.16, Y:-2.41, Z:19.91
[[ 9.79678820e-01 -6.30077501e-02 -1.90419097e-01  1.04162720e+02]
 [ 6.57587162e-02  9.97802216e-01  8.15647584e-03 -2.40530862e+00]
 [ 1.89486676e-01 -2.05124420e-02  9.81669007e-01  1.99060316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.42486062399999 meters
Centerline goodness : 0.997219 with order 1
Centerline is valid?  [True, True]
Translation: X:104.22, Y:-2.41, Z:19.92
[[ 9.79696062e-01 -6.27407602e-02 -1.90418547e-01  1.04223804e+02]
 [ 6.54892519e-02  9.97819834e-01  8.16930553e-03 -2.40571146e+00]
 [ 1.89490854e-01 -2.04738046e-02  9.81669007e-01  1.99177888e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.48486062399999 meters
Centerline goodness : 0.996853 with order 1
Centerline is valid?  [True, True]
Translation: X:104.28, Y:-2.41, Z:19.93
[[ 9.79676951e-01 -6.30401459e-02 -1.90417990e-01  1.04283769e+02]
 [ 6.57966678e-02  9.97799503e-01  8.18227633e-03 -2.40709791e+00]
 [ 1.89483164e-01 -2.05448567e-02  9.81669007e-01  1.99285227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.54486062399998 meters
Centerline goodness : 0.997208 with order 1
Centerline is valid?  [True, True]
Translation: X:104.34, Y:-2.41, Z:19.94
[[ 9.79683206e-01 -6.29432971e-02 -1.90417850e-01  1.04343691e+02]
 [ 6.56986534e-02  9.97805935e-01  8.18553460e-03 -2.40811857e+00]
 [ 1.89484836e-01 -2.05294271e-02  9.81669007e-01  1.99378523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.60486062399998 meters
Centerline goodness : 0.997205 with order 1
Centerline is valid?  [True, True]
Translation: X:104.40, Y:-2.41, Z:19.95
[[ 9.79664909e-01 -6.32299471e-02 -1.90417017e-01  1.04404150e+02]
 [ 6.59943200e-02  9.97786265e-01  8.20486939e-03 -2.41056034e+00]
 [ 1.89476690e-01 -2.06044641e-02  9.81669007e-01  1.99498817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.66486062399999 meters
Centerline goodness : 0.996665 with order 1
Centerline is valid?  [True, True]
Translation: X:104.47, Y:-2.41, Z:19.96
[[ 9.79567479e-01 -6.47230585e-02 -1.90416596e-01  1.04465339e+02]
 [ 6.75169208e-02  9.97684312e-01  8.21461916e-03 -2.41258008e+00]
 [ 1.89443975e-01 -2.09031160e-02  9.81669007e-01  1.99614410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.72486062399999 meters
Centerline goodness : 0.997132 with order 1
Centerline is valid?  [True, True]
Translation: X:104.52, Y:-2.41, Z:19.97
[[ 9.79500582e-01 -6.57292965e-02 -1.90416043e-01  1.04524945e+02]
 [ 6.85442234e-02  9.97614153e-01  8.22740645e-03 -2.41481757e+00]
 [ 1.89420958e-01 -2.11106692e-02  9.81669007e-01  1.99726435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.78486062399999 meters
Centerline goodness : 0.996992 with order 1
Centerline is valid?  [True, True]
Translation: X:104.59, Y:-2.42, Z:19.98
[[ 9.79394353e-01 -6.72936941e-02 -1.90416019e-01  1.04585178e+02]
 [ 7.01376582e-02  9.97503388e-01  8.22797663e-03 -2.41680207e+00]
 [ 1.89386933e-01 -2.14137675e-02  9.81669007e-01  1.99844792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.84486062399999 meters
Centerline goodness : 0.996870 with order 1
Centerline is valid?  [True, True]
Translation: X:104.65, Y:-2.42, Z:20.00
[[ 9.79385243e-01 -6.74269372e-02 -1.90415741e-01  1.04645038e+02]
 [ 7.02745988e-02  9.97493697e-01  8.23440391e-03 -2.41907116e+00]
 [ 1.89383281e-01 -2.14460435e-02  9.81669007e-01  1.99956178e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.90486062399998 meters
Centerline goodness : 0.997198 with order 1
Centerline is valid?  [True, True]
Translation: X:104.71, Y:-2.42, Z:20.01
[[ 9.79410683e-01 -6.70575703e-02 -1.90415327e-01  1.04705487e+02]
 [ 6.99002396e-02  9.97519921e-01  8.24397460e-03 -2.42133990e+00]
 [ 1.89390261e-01 -2.13843137e-02  9.81669008e-01  2.00066240e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 105.96486062399998 meters
Centerline goodness : 0.996866 with order 1
Centerline is valid?  [True, True]
Translation: X:104.77, Y:-2.42, Z:20.02
[[ 9.79426955e-01 -6.68202877e-02 -1.90415046e-01  1.04765873e+02]
 [ 6.96598126e-02  9.97536686e-01  8.25044984e-03 -2.42355647e+00]
 [ 1.89394697e-01 -2.13449894e-02  9.81669008e-01  2.00178519e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.02486062399998 meters
Centerline goodness : 0.996983 with order 1
Centerline is valid?  [True, True]
Translation: X:104.83, Y:-2.43, Z:20.03
[[ 9.79487700e-01 -6.59246721e-02 -1.90414765e-01  1.04827230e+02]
 [ 6.87488798e-02  9.97599827e-01  8.25692627e-03 -2.42685374e+00]
 [ 1.89413402e-01 -2.11783595e-02  9.81669008e-01  2.00287937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.08486062399999 meters
Centerline goodness : 0.997255 with order 1
Centerline is valid?  [True, True]
Translation: X:104.89, Y:-2.43, Z:20.04
[[ 9.79526513e-01 -6.53471122e-02 -1.90414193e-01  1.04886852e+02]
 [ 6.81631703e-02  9.97639909e-01  8.27010529e-03 -2.42984304e+00]
 [ 1.89424370e-01 -2.10800224e-02  9.81669008e-01  2.00404102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.14486062399999 meters
Centerline goodness : 0.997652 with order 1
Centerline is valid?  [True, True]
Translation: X:104.95, Y:-2.43, Z:20.05
[[ 9.79513661e-01 -6.55402947e-02 -1.90413909e-01  1.04946821e+02]
 [ 6.83611773e-02  9.97626306e-01  8.27662715e-03 -2.43410855e+00]
 [ 1.89419472e-01 -2.11239884e-02  9.81669008e-01  2.00527219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.20486062399999 meters
Centerline goodness : 0.997358 with order 1
Centerline is valid?  [True, True]
Translation: X:105.01, Y:-2.44, Z:20.06
[[ 9.79514363e-01 -6.55310159e-02 -1.90413495e-01  1.05007314e+02]
 [ 6.83535543e-02  9.97626750e-01  8.28614528e-03 -2.43902360e+00]
 [ 1.89418597e-01 -2.11318375e-02  9.81669008e-01  2.00631851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.26486062399998 meters
Centerline goodness : 0.997023 with order 1
Centerline is valid?  [True, True]
Translation: X:105.07, Y:-2.44, Z:20.07
[[ 9.79440746e-01 -6.66234269e-02 -1.90413086e-01  1.05067251e+02]
 [ 6.94679654e-02  9.97549691e-01  8.29552724e-03 -2.44405392e+00]
 [ 1.89393839e-01 -2.13525871e-02  9.81669008e-01  2.00742641e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.32486062399998 meters
Centerline goodness : 0.997648 with order 1
Centerline is valid?  [True, True]
Translation: X:105.13, Y:-2.45, Z:20.09
[[ 9.79351420e-01 -6.79243508e-02 -1.90412918e-01  1.05128288e+02]
 [ 7.07936839e-02  9.97456452e-01  8.29939943e-03 -2.44776362e+00]
 [ 1.89364862e-01 -2.16080605e-02  9.81669008e-01  2.00861757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.38486062399998 meters
Centerline goodness : 0.997402 with order 1
Centerline is valid?  [True, True]
Translation: X:105.19, Y:-2.45, Z:20.10
[[ 9.79203293e-01 -7.00289005e-02 -1.90412351e-01  1.05188236e+02]
 [ 7.29396269e-02  9.97301717e-01  8.31238134e-03 -2.45338621e+00]
 [ 1.89316458e-01 -2.20281170e-02  9.81669008e-01  2.00964468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.44486062399999 meters
Centerline goodness : 0.997942 with order 1
Centerline is valid?  [True, True]
Translation: X:105.25, Y:-2.46, Z:20.11
[[ 9.79100124e-01 -7.14574594e-02 -1.90412131e-01  1.05247744e+02]
 [ 7.43955542e-02  9.97194125e-01  8.31741980e-03 -2.45794328e+00]
 [ 1.89283516e-01 -2.23094027e-02  9.81669008e-01  2.01068668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.50486062399999 meters
Centerline goodness : 0.997529 with order 1
Centerline is valid?  [True, True]
Translation: X:105.31, Y:-2.46, Z:20.12
[[ 9.79135896e-01 -7.09667318e-02 -1.90411713e-01  1.05307578e+02]
 [ 7.38975925e-02  9.97231070e-01  8.32698524e-03 -2.46006641e+00]
 [ 1.89293537e-01 -2.22242173e-02  9.81669008e-01  2.01188268e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.56486062399999 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:105.37, Y:-2.46, Z:20.13
[[ 9.79303323e-01 -6.86180423e-02 -1.90411569e-01  1.05367779e+02]
 [ 7.15061215e-02  9.97405375e-01  8.33026203e-03 -2.46288842e+00]
 [ 1.89345916e-01 -2.17734461e-02  9.81669008e-01  2.01288738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.624860624 meters
Centerline goodness : 0.997780 with order 1
Centerline is valid?  [True, True]
Translation: X:105.43, Y:-2.47, Z:20.14
[[ 9.79418443e-01 -6.69552245e-02 -1.90411428e-01  1.05426443e+02]
 [ 6.98131829e-02  9.97525274e-01  8.33348222e-03 -2.46523923e+00]
 [ 1.89382242e-01 -2.14551940e-02  9.81669008e-01  2.01404258e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.68486062399998 meters
Centerline goodness : 0.997667 with order 1
Centerline is valid?  [True, True]
Translation: X:105.49, Y:-2.47, Z:20.15
[[ 9.79524664e-01 -6.53828814e-02 -1.90411428e-01  1.05486296e+02]
 [ 6.82117694e-02  9.97636060e-01  8.33348222e-03 -2.46771413e+00]
 [ 1.89416440e-01 -2.11511518e-02  9.81669008e-01  2.01527720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.74486062399998 meters
Centerline goodness : 0.997899 with order 1
Centerline is valid?  [True, True]
Translation: X:105.55, Y:-2.47, Z:20.16
[[ 9.79584490e-01 -6.44811558e-02 -1.90411152e-01  1.05546043e+02]
 [ 6.72945822e-02  9.97698295e-01  8.33979427e-03 -2.47181788e+00]
 [ 1.89435122e-01 -2.09831720e-02  9.81669008e-01  2.01638583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.80486062399999 meters
Centerline goodness : 0.997815 with order 1
Centerline is valid?  [True, True]
Translation: X:105.61, Y:-2.48, Z:20.18
[[ 9.79599951e-01 -6.42462570e-02 -1.90411013e-01  1.05607005e+02]
 [ 6.70559460e-02  9.97714336e-01  8.34295162e-03 -2.47623796e+00]
 [ 1.89439794e-01 -2.09409456e-02  9.81669008e-01  2.01751714e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.86486062399999 meters
Centerline goodness : 0.998097 with order 1
Centerline is valid?  [True, True]
Translation: X:105.67, Y:-2.48, Z:20.19
[[ 9.79581931e-01 -6.45221545e-02 -1.90410433e-01  1.05668270e+02]
 [ 6.73394870e-02  9.97695128e-01  8.35618854e-03 -2.48087208e+00]
 [ 1.89432402e-01 -2.10077121e-02  9.81669008e-01  2.01857281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.92486062399999 meters
Centerline goodness : 0.998053 with order 1
Centerline is valid?  [True, True]
Translation: X:105.73, Y:-2.49, Z:20.20
[[ 9.79440883e-01 -6.66306367e-02 -1.90409861e-01  1.05727538e+02]
 [ 6.94894500e-02  9.97547579e-01  8.36919844e-03 -2.48591627e+00]
 [ 1.89385251e-01 -2.14286116e-02  9.81669008e-01  2.01971616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 106.98486062399999 meters
Centerline goodness : 0.998104 with order 1
Centerline is valid?  [True, True]
Translation: X:105.79, Y:-2.49, Z:20.21
[[ 9.79299582e-01 -6.86765466e-02 -1.90409720e-01  1.05787704e+02]
 [ 7.15737915e-02  9.97400168e-01  8.37239257e-03 -2.49008519e+00]
 [ 1.89339700e-01 -2.18274262e-02  9.81669008e-01  2.02082234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.04486062399998 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:105.85, Y:-2.49, Z:20.22
[[ 9.79114738e-01 -7.12640608e-02 -1.90409465e-01  1.05847650e+02]
 [ 7.42102381e-02  9.97207424e-01  8.37819305e-03 -2.49381069e+00]
 [ 1.89280668e-01 -2.23335440e-02  9.81669008e-01  2.02185659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.10486062399998 meters
Centerline goodness : 0.998409 with order 1
Centerline is valid?  [True, True]
Translation: X:105.91, Y:-2.50, Z:20.23
[[ 9.78928808e-01 -7.37743676e-02 -1.90409377e-01  1.05907518e+02]
 [ 7.67673106e-02  9.97013818e-01  8.38019647e-03 -2.49745241e+00]
 [ 1.89222536e-01 -2.28208315e-02  9.81669008e-01  2.02291034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.16486062399999 meters
Centerline goodness : 0.998070 with order 1
Centerline is valid?  [True, True]
Translation: X:105.97, Y:-2.50, Z:20.24
[[ 9.78890186e-01 -7.42851351e-02 -1.90409354e-01  1.05968680e+02]
 [ 7.72876140e-02  9.96973615e-01  8.38071880e-03 -2.50077513e+00]
 [ 1.89210539e-01 -2.29200880e-02  9.81669008e-01  2.02412652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.22486062399999 meters
Centerline goodness : 0.998665 with order 1
Centerline is valid?  [True, True]
Translation: X:106.03, Y:-2.50, Z:20.25
[[ 9.78764119e-01 -7.59295393e-02 -1.90408781e-01  1.06027415e+02]
 [ 7.89648849e-02  9.96842060e-01  8.39371840e-03 -2.50404673e+00]
 [ 1.89170150e-01 -2.32510779e-02  9.81669008e-01  2.02541317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.28486062399999 meters
Centerline goodness : 0.998575 with order 1
Centerline is valid?  [True, True]
Translation: X:106.09, Y:-2.51, Z:20.27
[[ 9.78653803e-01 -7.73387642e-02 -1.90408639e-01  1.06086635e+02]
 [ 8.04007521e-02  9.96727250e-01  8.39692990e-03 -2.50754859e+00]
 [ 1.89136071e-01 -2.35266852e-02  9.81669008e-01  2.02666024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.34486062399999 meters
Centerline goodness : 0.998157 with order 1
Centerline is valid?  [True, True]
Translation: X:106.14, Y:-2.51, Z:20.28
[[ 9.78514140e-01 -7.90865473e-02 -1.90408497e-01  1.06144524e+02]
 [ 8.21814283e-02  9.96581984e-01  8.40015793e-03 -2.51296939e+00]
 [ 1.89093338e-01 -2.38677155e-02  9.81669008e-01  2.02772992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.40486062399998 meters
Centerline goodness : 0.998003 with order 1
Centerline is valid?  [True, True]
Translation: X:106.20, Y:-2.52, Z:20.29
[[ 9.78396664e-01 -8.05279302e-02 -1.90408037e-01  1.06204515e+02]
 [ 8.36514159e-02  9.96459584e-01  8.41056068e-03 -2.51789119e+00]
 [ 1.89056629e-01 -2.41567664e-02  9.81669008e-01  2.02887548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.46486062399998 meters
Centerline goodness : 0.997851 with order 1
Centerline is valid?  [True, True]
Translation: X:106.26, Y:-2.52, Z:20.30
[[ 9.78277803e-01 -8.19599200e-02 -1.90407753e-01  1.06263320e+02]
 [ 8.51110739e-02  9.96335917e-01  8.41700148e-03 -2.52341580e+00]
 [ 1.89020226e-01 -2.44399740e-02  9.81669008e-01  2.02986018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.52486062399998 meters
Centerline goodness : 0.997784 with order 1
Centerline is valid?  [True, True]
Translation: X:106.32, Y:-2.53, Z:20.31
[[ 9.78268132e-01 -8.20752693e-02 -1.90407753e-01  1.06323243e+02]
 [ 8.52285524e-02  9.96325874e-01  8.41700148e-03 -2.52877827e+00]
 [ 1.89017343e-01 -2.44622614e-02  9.81669008e-01  2.03083860e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.58486062399999 meters
Centerline goodness : 0.997813 with order 1
Centerline is valid?  [True, True]
Translation: X:106.38, Y:-2.53, Z:20.32
[[ 9.78337836e-01 -8.12411515e-02 -1.90407336e-01  1.06383839e+02]
 [ 8.43808398e-02  9.96397947e-01  8.42641701e-03 -2.53333528e+00]
 [ 1.89036907e-01 -2.43106135e-02  9.81669008e-01  2.03194662e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.64486062399999 meters
Centerline goodness : 0.997945 with order 1
Centerline is valid?  [True, True]
Translation: X:106.44, Y:-2.54, Z:20.33
[[ 9.78506782e-01 -7.91813055e-02 -1.90406926e-01  1.06443032e+02]
 [ 8.22847369e-02  9.96573159e-01  8.43566689e-03 -2.53644980e+00]
 [ 1.89086485e-01 -2.39219411e-02  9.81669008e-01  2.03314584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.70486062399999 meters
Centerline goodness : 0.997565 with order 1
Centerline is valid?  [True, True]
Translation: X:106.50, Y:-2.54, Z:20.34
[[ 9.78613043e-01 -7.78569926e-02 -1.90406934e-01  1.06503754e+02]
 [ 8.09359356e-02  9.96683609e-01  8.43547954e-03 -2.53941823e+00]
 [ 1.89118710e-01 -2.36658337e-02  9.81669008e-01  2.03431944e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.76486062399998 meters
Centerline goodness : 0.997095 with order 1
Centerline is valid?  [True, True]
Translation: X:106.56, Y:-2.54, Z:20.35
[[ 9.78677662e-01 -7.70415350e-02 -1.90406501e-01  1.06563891e+02]
 [ 8.01072940e-02  9.96750470e-01  8.44526313e-03 -2.54239580e+00]
 [ 1.89137133e-01 -2.35181399e-02  9.81669008e-01  2.03544486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.82486062399998 meters
Centerline goodness : 0.997078 with order 1
Centerline is valid?  [True, True]
Translation: X:106.62, Y:-2.55, Z:20.37
[[ 9.78875799e-01 -7.44825192e-02 -1.90406212e-01  1.06622992e+02]
 [ 7.75022643e-02  9.96956351e-01  8.45177381e-03 -2.54600864e+00]
 [ 1.89197173e-01 -2.30301494e-02  9.81669008e-01  2.03669440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.88486062399998 meters
Centerline goodness : 0.997609 with order 1
Centerline is valid?  [True, True]
Translation: X:106.68, Y:-2.55, Z:20.38
[[ 9.79030665e-01 -7.24184922e-02 -1.90406197e-01  1.06682839e+02]
 [ 7.54001729e-02  9.97117534e-01  8.45210432e-03 -2.54880225e+00]
 [ 1.89245269e-01 -2.26315295e-02  9.81669008e-01  2.03782029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 107.94486062399999 meters
Centerline goodness : 0.997653 with order 1
Centerline is valid?  [True, True]
Translation: X:106.74, Y:-2.55, Z:20.39
[[ 9.79181856e-01 -7.03454359e-02 -1.90405915e-01  1.06742796e+02]
 [ 7.32900317e-02  9.97274800e-01  8.45844935e-03 -2.55167713e+00]
 [ 1.89292007e-01 -2.22372157e-02  9.81669008e-01  2.03896280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.00486062399999 meters
Centerline goodness : 0.997527 with order 1
Centerline is valid?  [True, True]
Translation: X:106.80, Y:-2.56, Z:20.40
[[ 9.79333196e-01 -6.82062583e-02 -1.90405878e-01  1.06801795e+02]
 [ 7.11114843e-02  9.97432503e-01  8.45928821e-03 -2.55678333e+00]
 [ 1.89340035e-01 -2.18245063e-02  9.81669008e-01  2.04002028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.06486062399999 meters
Centerline goodness : 0.997641 with order 1
Centerline is valid?  [True, True]
Translation: X:106.86, Y:-2.56, Z:20.41
[[ 9.79341435e-01 -6.80878940e-02 -1.90405862e-01  1.06862008e+02]
 [ 7.09910025e-02  9.97441082e-01  8.45965313e-03 -2.56031989e+00]
 [ 1.89342629e-01 -2.18019918e-02  9.81669008e-01  2.04143006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.124860624 meters
Centerline goodness : 0.997621 with order 1
Centerline is valid?  [True, True]
Translation: X:106.92, Y:-2.57, Z:20.43
[[ 9.79218082e-01 -6.98407985e-02 -1.90405387e-01  1.06920956e+02]
 [ 7.27783447e-02  9.97312171e-01  8.47030984e-03 -2.56572859e+00]
 [ 1.89302037e-01 -2.21516695e-02  9.81669009e-01  2.04261729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.18486062399998 meters
Centerline goodness : 0.997345 with order 1
Centerline is valid?  [True, True]
Translation: X:106.98, Y:-2.57, Z:20.44
[[ 9.79051214e-01 -7.21423508e-02 -1.90405361e-01  1.06980336e+02]
 [ 7.51225335e-02  9.97138330e-01  8.47089862e-03 -2.57310163e+00]
 [ 1.89249373e-01 -2.25971767e-02  9.81669009e-01  2.04366707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.24486062399998 meters
Centerline goodness : 0.997041 with order 1
Centerline is valid?  [True, True]
Translation: X:107.04, Y:-2.58, Z:20.45
[[ 9.78892323e-01 -7.42674530e-02 -1.90405266e-01  1.07038505e+02]
 [ 7.72872995e-02  9.96972859e-01  8.47302823e-03 -2.57759756e+00]
 [ 1.89199613e-01 -2.30100911e-02  9.81669009e-01  2.04466390e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.30486062399999 meters
Centerline goodness : 0.997179 with order 1
Centerline is valid?  [True, True]
Translation: X:107.10, Y:-2.58, Z:20.46
[[ 9.78718246e-01 -7.65270250e-02 -1.90405384e-01  1.07098323e+02]
 [ 7.95880962e-02  9.96791848e-01  8.47038705e-03 -2.58261558e+00]
 [ 1.89146321e-01 -2.34441244e-02  9.81669009e-01  2.04583512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.36486062399999 meters
Centerline goodness : 0.997135 with order 1
Centerline is valid?  [True, True]
Translation: X:107.16, Y:-2.59, Z:20.47
[[ 9.78582318e-01 -7.82463421e-02 -1.90405242e-01  1.07157939e+02]
 [ 8.13397705e-02  9.96650410e-01  8.47357031e-03 -2.58680225e+00]
 [ 1.89104437e-01 -2.37796048e-02  9.81669009e-01  2.04703899e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.42486062399999 meters
Centerline goodness : 0.997339 with order 1
Centerline is valid?  [True, True]
Translation: X:107.22, Y:-2.59, Z:20.48
[[ 9.78441219e-01 -7.99917443e-02 -1.90405097e-01  1.07216908e+02]
 [ 8.31180211e-02  9.96503657e-01  8.47683286e-03 -2.59156615e+00]
 [ 1.89061299e-01 -2.41201776e-02  9.81669009e-01  2.04833525e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.48486062399999 meters
Centerline goodness : 0.997116 with order 1
Centerline is valid?  [True, True]
Translation: X:107.28, Y:-2.59, Z:20.50
[[ 9.78483956e-01 -7.94673796e-02 -1.90405050e-01  1.07277889e+02]
 [ 8.25841808e-02  9.96548031e-01  8.47790141e-03 -2.59456736e+00]
 [ 1.89074061e-01 -2.40199355e-02  9.81669009e-01  2.04955037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.54486062399998 meters
Centerline goodness : 0.997141 with order 1
Centerline is valid?  [True, True]
Translation: X:107.34, Y:-2.60, Z:20.51
[[ 9.78563991e-01 -7.84770673e-02 -1.90404476e-01  1.07336912e+02]
 [ 8.15780466e-02  9.96630789e-01  8.49075265e-03 -2.59787116e+00]
 [ 1.89096634e-01 -2.38415700e-02  9.81669009e-01  2.05060116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.60486062399998 meters
Centerline goodness : 0.997517 with order 1
Centerline is valid?  [True, True]
Translation: X:107.40, Y:-2.60, Z:20.52
[[ 9.78700203e-01 -7.67596803e-02 -1.90404476e-01  1.07396672e+02]
 [ 7.98289496e-02  9.96772414e-01  8.49075265e-03 -2.60145217e+00]
 [ 1.89138182e-01 -2.35096907e-02  9.81669009e-01  2.05179991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.66486062399999 meters
Centerline goodness : 0.997338 with order 1
Centerline is valid?  [True, True]
Translation: X:107.46, Y:-2.60, Z:20.53
[[ 9.78941136e-01 -7.36238104e-02 -1.90404272e-01  1.07455061e+02]
 [ 7.66360455e-02  9.97022941e-01  8.49534183e-03 -2.60405637e+00]
 [ 1.89211968e-01 -2.29082700e-02  9.81669009e-01  2.05278587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.72486062399999 meters
Centerline goodness : 0.997237 with order 1
Centerline is valid?  [True, True]
Translation: X:107.51, Y:-2.61, Z:20.54
[[ 9.79161724e-01 -7.06291224e-02 -1.90404428e-01  1.07514896e+02]
 [ 7.35853628e-02  9.97252768e-01  8.49183390e-03 -2.60586596e+00]
 [ 1.89281572e-01 -2.23258576e-02  9.81669009e-01  2.05392728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.78486062399999 meters
Centerline goodness : 0.997120 with order 1
Centerline is valid?  [True, True]
Translation: X:107.57, Y:-2.61, Z:20.55
[[ 9.79459262e-01 -6.63756017e-02 -1.90404397e-01  1.07573001e+02]
 [ 6.92533706e-02  9.97562954e-01  8.49252426e-03 -2.60868383e+00]
 [ 1.89376677e-01 -2.15042278e-02  9.81669009e-01  2.05496965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.84486062399999 meters
Centerline goodness : 0.996814 with order 1
Centerline is valid?  [True, True]
Translation: X:107.63, Y:-2.61, Z:20.56
[[ 9.79625200e-01 -6.38794868e-02 -1.90404511e-01  1.07632450e+02]
 [ 6.67106238e-02  9.97736244e-01  8.48997193e-03 -2.61077650e+00]
 [ 1.89431147e-01 -2.10189942e-02  9.81669009e-01  2.05624290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.90486062399998 meters
Centerline goodness : 0.997561 with order 1
Centerline is valid?  [True, True]
Translation: X:107.69, Y:-2.61, Z:20.57
[[ 9.79691087e-01 -6.28610213e-02 -1.90404479e-01  1.07692828e+02]
 [ 6.56734666e-02  9.97805043e-01  8.49069210e-03 -2.61216888e+00]
 [ 1.89452816e-01 -2.08227776e-02  9.81669009e-01  2.05745261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 108.96486062399998 meters
Centerline goodness : 0.997358 with order 1
Centerline is valid?  [True, True]
Translation: X:107.75, Y:-2.61, Z:20.59
[[ 9.79674630e-01 -6.31178586e-02 -1.90404192e-01  1.07752683e+02]
 [ 6.59362892e-02  9.97787655e-01  8.49713217e-03 -2.61432287e+00]
 [ 1.89446631e-01 -2.08789707e-02  9.81669009e-01  2.05855855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.02486062399998 meters
Centerline goodness : 0.997242 with order 1
Centerline is valid?  [True, True]
Translation: X:107.81, Y:-2.62, Z:20.60
[[ 9.79630465e-01 -6.38007949e-02 -1.90403809e-01  1.07812374e+02]
 [ 6.66334950e-02  9.97741264e-01  8.50569104e-03 -2.61621198e+00]
 [ 1.89431068e-01 -2.10197053e-02  9.81669009e-01  2.05951118e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.08486062399999 meters
Centerline goodness : 0.997106 with order 1
Centerline is valid?  [True, True]
Translation: X:107.87, Y:-2.62, Z:20.61
[[ 9.79628902e-01 -6.38247938e-02 -1.90403809e-01  1.07871958e+02]
 [ 6.66579376e-02  9.97739632e-01  8.50569104e-03 -2.61640841e+00]
 [ 1.89430553e-01 -2.10243460e-02  9.81669009e-01  2.06078851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.14486062399999 meters
Centerline goodness : 0.997284 with order 1
Centerline is valid?  [True, True]
Translation: X:107.93, Y:-2.62, Z:20.62
[[ 9.79605441e-01 -6.41850304e-02 -1.90403420e-01  1.07932204e+02]
 [ 6.70265046e-02  9.97714865e-01  8.51439352e-03 -2.61778001e+00]
 [ 1.89421826e-01 -2.11028219e-02  9.81669009e-01  2.06195066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.20486062399999 meters
Centerline goodness : 0.997414 with order 1
Centerline is valid?  [True, True]
Translation: X:107.99, Y:-2.62, Z:20.63
[[ 9.79641867e-01 -6.36275035e-02 -1.90403133e-01  1.07991635e+02]
 [ 6.64599027e-02  9.97752713e-01  8.52080975e-03 -2.62045587e+00]
 [ 1.89433085e-01 -2.10015157e-02  9.81669009e-01  2.06317458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.26486062399998 meters
Centerline goodness : 0.997464 with order 1
Centerline is valid?  [True, True]
Translation: X:108.05, Y:-2.62, Z:20.64
[[ 9.79788891e-01 -6.13223569e-02 -1.90402986e-01  1.08049923e+02]
 [ 6.41127651e-02  9.97906255e-01  8.52408639e-03 -2.62166303e+00]
 [ 1.89481614e-01 -2.05590671e-02  9.81669009e-01  2.06440975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.32486062399998 meters
Centerline goodness : 0.997212 with order 1
Centerline is valid?  [True, True]
Translation: X:108.11, Y:-2.62, Z:20.65
[[ 9.79941102e-01 -5.88399446e-02 -1.90402986e-01  1.08108847e+02]
 [ 6.15844449e-02  9.98065477e-01  8.52408639e-03 -2.62221768e+00]
 [ 1.89533091e-01 -2.00789648e-02  9.81669009e-01  2.06542679e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.38486062399998 meters
Centerline goodness : 0.997161 with order 1
Centerline is valid?  [True, True]
Translation: X:108.17, Y:-2.62, Z:20.66
[[ 9.80201796e-01 -5.43243432e-02 -1.90403008e-01  1.08168465e+02]
 [ 5.69852169e-02  9.98338636e-01  8.52361158e-03 -2.62262561e+00]
 [ 1.89623639e-01 -1.92050161e-02  9.81669009e-01  2.06645660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.44486062399999 meters
Centerline goodness : 0.997711 with order 1
Centerline is valid?  [True, True]
Translation: X:108.23, Y:-2.62, Z:20.67
[[ 9.80321481e-01 -5.21200110e-02 -1.90402990e-01  1.08227573e+02]
 [ 5.47401708e-02  9.98464248e-01  8.52401399e-03 -2.62333163e+00]
 [ 1.89666306e-01 -1.87789662e-02  9.81669009e-01  2.06734660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.50486062399999 meters
Centerline goodness : 0.997321 with order 1
Centerline is valid?  [True, True]
Translation: X:108.28, Y:-2.62, Z:20.69
[[ 9.80369351e-01 -5.12110707e-02 -1.90403157e-01  1.08284604e+02]
 [ 5.38136879e-02  9.98514643e-01  8.52026998e-03 -2.62300508e+00]
 [ 1.89684008e-01 -1.85993076e-02  9.81669009e-01  2.06877618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.56486062399999 meters
Centerline goodness : 0.997910 with order 1
Centerline is valid?  [True, True]
Translation: X:108.34, Y:-2.62, Z:20.70
[[ 9.80440917e-01 -4.98146631e-02 -1.90405117e-01  1.08343221e+02]
 [ 5.23829645e-02  9.98591097e-01  8.47625647e-03 -2.62120939e+00]
 [ 1.89714612e-01 -1.82844531e-02  9.81669010e-01  2.06992482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.624860624 meters
Centerline goodness : 0.997790 with order 1
Centerline is valid?  [True, True]
Translation: X:108.40, Y:-2.62, Z:20.71
[[ 9.80435060e-01 -4.99287302e-02 -1.90405394e-01  1.08401166e+02]
 [ 5.24979421e-02  9.98585112e-01  8.47001465e-03 -2.61930324e+00]
 [ 1.89713095e-01 -1.83001907e-02  9.81669010e-01  2.07114818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.68486062399998 meters
Centerline goodness : 0.998168 with order 1
Centerline is valid?  [True, True]
Translation: X:108.46, Y:-2.62, Z:20.72
[[ 9.80387838e-01 -5.08406461e-02 -1.90407236e-01  1.08458254e+02]
 [ 5.34187371e-02  9.98536629e-01  8.42842292e-03 -2.62046042e+00]
 [ 1.89700093e-01 -1.84344374e-02  9.81669011e-01  2.07211820e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.74486062399998 meters
Centerline goodness : 0.997908 with order 1
Centerline is valid?  [True, True]
Translation: X:108.52, Y:-2.62, Z:20.73
[[ 9.80338272e-01 -5.17850563e-02 -1.90407932e-01  1.08516563e+02]
 [ 5.43775983e-02  9.98485004e-01  8.41266751e-03 -2.61775114e+00]
 [ 1.89683814e-01 -1.86011860e-02  9.81669011e-01  2.07321649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.80486062399999 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:108.57, Y:-2.62, Z:20.74
[[ 9.80318859e-01 -5.21497615e-02 -1.90408343e-01  1.08574071e+02]
 [ 5.47472611e-02  9.98464882e-01  8.40334537e-03 -2.61650547e+00]
 [ 1.89677811e-01 -1.86622932e-02  9.81669011e-01  2.07434443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.86486062399999 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:108.63, Y:-2.61, Z:20.76
[[ 9.80319626e-01 -5.21283903e-02 -1.90410247e-01  1.08631706e+02]
 [ 5.47171528e-02  9.98466897e-01  8.35998393e-03 -2.61490876e+00]
 [ 1.89682536e-01 -1.86141629e-02  9.81669012e-01  2.07555881e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.92486062399999 meters
Centerline goodness : 0.998111 with order 1
Centerline is valid?  [True, True]
Translation: X:108.69, Y:-2.62, Z:20.77
[[ 9.80336195e-01 -5.18087877e-02 -1.90412170e-01  1.08690318e+02]
 [ 5.43831638e-02  9.98485511e-01  8.31595976e-03 -2.61542069e+00]
 [ 1.89692953e-01 -1.85076526e-02  9.81669013e-01  2.07674171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 109.98486062399999 meters
Centerline goodness : 0.998008 with order 1
Centerline is valid?  [True, True]
Translation: X:108.75, Y:-2.61, Z:20.78
[[ 9.80370652e-01 -5.11521160e-02 -1.90412306e-01  1.08749574e+02]
 [ 5.37137334e-02  9.98521773e-01  8.31283583e-03 -2.61464594e+00]
 [ 1.89705615e-01 -1.83774161e-02  9.81669013e-01  2.07781541e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.04486062399998 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:108.81, Y:-2.62, Z:20.79
[[ 9.80420057e-01 -5.01949485e-02 -1.90412657e-01  1.08808789e+02]
 [ 5.27372971e-02  9.98573887e-01  8.30479985e-03 -2.61619362e+00]
 [ 1.89724248e-01 -1.81840412e-02  9.81669013e-01  2.07916196e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.10486062399998 meters
Centerline goodness : 0.997980 with order 1
Centerline is valid?  [True, True]
Translation: X:108.87, Y:-2.62, Z:20.80
[[ 9.80395953e-01 -5.06635613e-02 -1.90412657e-01  1.08866726e+02]
 [ 5.32145867e-02  9.98548566e-01  8.30479985e-03 -2.61773422e+00]
 [ 1.89715535e-01 -1.82747230e-02  9.81669013e-01  2.08026682e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.16486062399999 meters
Centerline goodness : 0.998163 with order 1
Centerline is valid?  [True, True]
Translation: X:108.93, Y:-2.62, Z:20.81
[[ 9.80338863e-01 -5.17554678e-02 -1.90412935e-01  1.08925702e+02]
 [ 5.43254829e-02  9.98488797e-01  8.29842455e-03 -2.61974175e+00]
 [ 1.89695693e-01 -1.84795427e-02  9.81669013e-01  2.08122234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.22486062399999 meters
Centerline goodness : 0.997982 with order 1
Centerline is valid?  [True, True]
Translation: X:108.98, Y:-2.62, Z:20.82
[[ 9.80148086e-01 -5.52507524e-02 -1.90412928e-01  1.08984608e+02]
 [ 5.78854972e-02  9.98288737e-01  8.29857275e-03 -2.62212076e+00]
 [ 1.89628579e-01 -1.91559772e-02  9.81669013e-01  2.08240424e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.28486062399999 meters
Centerline goodness : 0.997839 with order 1
Centerline is valid?  [True, True]
Translation: X:109.04, Y:-2.62, Z:20.84
[[ 9.80023223e-01 -5.74225260e-02 -1.90413068e-01  1.09043300e+02]
 [ 6.00968437e-02  9.98158082e-01  8.29535531e-03 -2.62484429e+00]
 [ 1.89586003e-01 -1.95728653e-02  9.81669013e-01  2.08353475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.34486062399999 meters
Centerline goodness : 0.998064 with order 1
Centerline is valid?  [True, True]
Translation: X:109.10, Y:-2.63, Z:20.85
[[ 9.79913441e-01 -5.92660763e-02 -1.90413185e-01  1.09102337e+02]
 [ 6.19739900e-02  9.98043314e-01  8.29267472e-03 -2.62572997e+00]
 [ 1.89549132e-01 -1.99267683e-02  9.81669013e-01  2.08476779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.40486062399998 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:109.16, Y:-2.63, Z:20.86
[[ 9.79909600e-01 -5.93307397e-02 -1.90412813e-01  1.09160901e+02]
 [ 6.20414898e-02  9.98039049e-01  8.30120816e-03 -2.62753831e+00]
 [ 1.89546906e-01 -1.99479282e-02  9.81669013e-01  2.08579690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.46486062399998 meters
Centerline goodness : 0.997779 with order 1
Centerline is valid?  [True, True]
Translation: X:109.22, Y:-2.63, Z:20.87
[[ 9.79962496e-01 -5.84501107e-02 -1.90412949e-01  1.09221355e+02]
 [ 6.11439698e-02  9.98094463e-01  8.29809834e-03 -2.62916872e+00]
 [ 1.89565085e-01 -1.97744287e-02  9.81669013e-01  2.08722593e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.52486062399998 meters
Centerline goodness : 0.997891 with order 1
Centerline is valid?  [True, True]
Translation: X:109.28, Y:-2.63, Z:20.88
[[ 9.80103330e-01 -5.60409505e-02 -1.90412380e-01  1.09279421e+02]
 [ 5.86927322e-02  9.98241498e-01  8.31111865e-03 -2.63029594e+00]
 [ 1.89611777e-01 -1.93215779e-02  9.81669013e-01  2.08837949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.58486062399999 meters
Centerline goodness : 0.997748 with order 1
Centerline is valid?  [True, True]
Translation: X:109.34, Y:-2.63, Z:20.90
[[ 9.80185591e-01 -5.45849213e-02 -1.90411906e-01  1.09338394e+02]
 [ 5.72118427e-02  9.98327376e-01  8.32197217e-03 -2.63206543e+00]
 [ 1.89639164e-01 -1.90508932e-02  9.81669013e-01  2.08973038e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.64486062399999 meters
Centerline goodness : 0.998027 with order 1
Centerline is valid?  [True, True]
Translation: X:109.40, Y:-2.63, Z:20.91
[[ 9.80274965e-01 -5.29556334e-02 -1.90411906e-01  1.09398222e+02]
 [ 5.55523968e-02  9.98421092e-01  8.32197217e-03 -2.63432062e+00]
 [ 1.89670568e-01 -1.87356587e-02  9.81669013e-01  2.09077507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.70486062399999 meters
Centerline goodness : 0.998124 with order 1
Centerline is valid?  [True, True]
Translation: X:109.46, Y:-2.64, Z:20.92
[[ 9.80317996e-01 -5.21529786e-02 -1.90411903e-01  1.09455791e+02]
 [ 5.47348946e-02  9.98466241e-01  8.32203046e-03 -2.63614693e+00]
 [ 1.89685839e-01 -1.85804117e-02  9.81669013e-01  2.09182709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.76486062399998 meters
Centerline goodness : 0.998000 with order 1
Centerline is valid?  [True, True]
Translation: X:109.52, Y:-2.64, Z:20.93
[[ 9.80375653e-01 -5.10561380e-02 -1.90412316e-01  1.09515073e+02]
 [ 5.36159302e-02  9.98527032e-01  8.31258538e-03 -2.63842179e+00]
 [ 1.89707436e-01 -1.83585898e-02  9.81669013e-01  2.09314322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.82486062399998 meters
Centerline goodness : 0.998141 with order 1
Centerline is valid?  [True, True]
Translation: X:109.57, Y:-2.64, Z:20.94
[[ 9.80420144e-01 -5.01945282e-02 -1.90412316e-01  1.09572589e+02]
 [ 5.27383673e-02  9.98573766e-01  8.31258538e-03 -2.64034887e+00]
 [ 1.89723497e-01 -1.81918608e-02  9.81669013e-01  2.09408868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.88486062399998 meters
Centerline goodness : 0.997951 with order 1
Centerline is valid?  [True, True]
Translation: X:109.63, Y:-2.64, Z:20.95
[[ 9.80433213e-01 -4.99370048e-02 -1.90412735e-01  1.09631142e+02]
 [ 5.24742264e-02  9.98587761e-01  8.30297716e-03 -2.64176915e+00]
 [ 1.89729201e-01 -1.81322755e-02  9.81669013e-01  2.09540157e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 110.94486062399999 meters
Centerline goodness : 0.997833 with order 1
Centerline is valid?  [True, True]
Translation: X:109.69, Y:-2.64, Z:20.97
[[ 9.80384956e-01 -5.08741521e-02 -1.90413126e-01  1.09690620e+02]
 [ 5.34269973e-02  9.98537313e-01  8.29399337e-03 -2.64378219e+00]
 [ 1.89712661e-01 -1.83045079e-02  9.81669013e-01  2.09652990e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.00486062399999 meters
Centerline goodness : 0.998255 with order 1
Centerline is valid?  [True, True]
Translation: X:109.75, Y:-2.65, Z:20.98
[[ 9.80282909e-01 -5.28039825e-02 -1.90413126e-01  1.09750161e+02]
 [ 5.53925563e-02  9.98430205e-01  8.29399337e-03 -2.64681204e+00]
 [ 1.89676261e-01 -1.86779298e-02  9.81669013e-01  2.09765818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.06486062399999 meters
Centerline goodness : 0.997906 with order 1
Centerline is valid?  [True, True]
Translation: X:109.81, Y:-2.65, Z:20.99
[[ 9.80196439e-01 -5.43854972e-02 -1.90413126e-01  1.09807683e+02]
 [ 5.70033465e-02  9.98339536e-01  8.29399337e-03 -2.64968990e+00]
 [ 1.89645879e-01 -1.89839282e-02  9.81669013e-01  2.09872017e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.12486062399998 meters
Centerline goodness : 0.998189 with order 1
Centerline is valid?  [True, True]
Translation: X:109.87, Y:-2.65, Z:21.00
[[ 9.80051266e-01 -5.69399242e-02 -1.90413657e-01  1.09866417e+02]
 [ 5.96027041e-02  9.98187823e-01  8.28179423e-03 -2.65302623e+00]
 [ 1.89597029e-01 -1.94657518e-02  9.81669013e-01  2.09999921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.18486062399998 meters
Centerline goodness : 0.998214 with order 1
Centerline is valid?  [True, True]
Translation: X:109.93, Y:-2.66, Z:21.01
[[ 9.79961174e-01 -5.84695372e-02 -1.90413786e-01  1.09925909e+02]
 [ 6.11600490e-02  9.98093638e-01  8.27881408e-03 -2.65685287e+00]
 [ 1.89566730e-01 -1.97586329e-02  9.81669013e-01  2.10119224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.24486062399998 meters
Centerline goodness : 0.998057 with order 1
Centerline is valid?  [True, True]
Translation: X:109.99, Y:-2.66, Z:21.02
[[ 9.79866867e-01 -6.00293455e-02 -1.90413764e-01  1.09985207e+02]
 [ 6.27488160e-02  9.97995009e-01  8.27933086e-03 -2.66207331e+00]
 [ 1.89534983e-01 -2.00608802e-02  9.81669013e-01  2.10242477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.30486062399999 meters
Centerline goodness : 0.997946 with order 1
Centerline is valid?  [True, True]
Translation: X:110.04, Y:-2.67, Z:21.04
[[ 9.79717160e-01 -6.24254457e-02 -1.90413628e-01  1.10043955e+02]
 [ 6.51898408e-02  9.97838507e-01  8.28245431e-03 -2.66743088e+00]
 [ 1.89485014e-01 -2.05274967e-02  9.81669013e-01  2.10368925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.36486062399999 meters
Centerline goodness : 0.998379 with order 1
Centerline is valid?  [True, True]
Translation: X:110.10, Y:-2.67, Z:21.05
[[ 9.79665059e-01 -6.32378911e-02 -1.90413604e-01  1.10103505e+02]
 [ 6.60174171e-02  9.97784091e-01  8.28299612e-03 -2.67354483e+00]
 [ 1.89467866e-01 -2.06851762e-02  9.81669013e-01  2.10492354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.42486062399999 meters
Centerline goodness : 0.998029 with order 1
Centerline is valid?  [True, True]
Translation: X:110.16, Y:-2.68, Z:21.06
[[ 9.79656279e-01 -6.33749379e-02 -1.90413214e-01  1.10164168e+02]
 [ 6.61587203e-02  9.97774657e-01  8.29196032e-03 -2.67707845e+00]
 [ 1.89463977e-01 -2.07207656e-02  9.81669013e-01  2.10610665e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.48486062399999 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:110.22, Y:-2.68, Z:21.07
[[ 9.79708976e-01 -6.25567354e-02 -1.90412652e-01  1.10222848e+02]
 [ 6.53278608e-02  9.97829294e-01  8.30484975e-03 -2.68034882e+00]
 [ 1.89479798e-01 -2.05755871e-02  9.81669013e-01  2.10709750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.54486062399998 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:110.28, Y:-2.68, Z:21.08
[[ 9.79710938e-01 -6.25255720e-02 -1.90412790e-01  1.10282865e+02]
 [ 6.52955122e-02  9.97831438e-01  8.30168022e-03 -2.68300342e+00]
 [ 1.89480801e-01 -2.05663476e-02  9.81669013e-01  2.10826405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.60486062399998 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:110.34, Y:-2.68, Z:21.10
[[ 9.79861003e-01 -6.01289317e-02 -1.90412516e-01  1.10342729e+02]
 [ 6.28557478e-02  9.97988042e-01  8.30796902e-03 -2.68499397e+00]
 [ 1.89529864e-01 -2.01091759e-02  9.81669013e-01  2.10966777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.66486062399999 meters
Centerline goodness : 0.998193 with order 1
Centerline is valid?  [True, True]
Translation: X:110.40, Y:-2.69, Z:21.11
[[ 9.80018295e-01 -5.75093398e-02 -1.90412229e-01  1.10401590e+02]
 [ 6.01889512e-02  9.98152372e-01  8.31453627e-03 -2.68563679e+00]
 [ 1.89582255e-01 -1.96091100e-02  9.81669013e-01  2.11088696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.72486062399999 meters
Centerline goodness : 0.998399 with order 1
Centerline is valid?  [True, True]
Translation: X:110.46, Y:-2.69, Z:21.12
[[ 9.80082832e-01 -5.63989265e-02 -1.90412194e-01  1.10462288e+02]
 [ 5.90581456e-02  9.98219911e-01  8.31534570e-03 -2.68662434e+00]
 [ 1.89604266e-01 -1.93951186e-02  9.81669013e-01  2.11200855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.78486062399999 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:110.52, Y:-2.69, Z:21.13
[[ 9.80169162e-01 -5.48796190e-02 -1.90411766e-01  1.10521583e+02]
 [ 5.75126021e-02  9.98310068e-01  8.32513057e-03 -2.68751360e+00]
 [ 1.89633103e-01 -1.91111124e-02  9.81669013e-01  2.11267191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.84486062399999 meters
Centerline goodness : 0.998437 with order 1
Centerline is valid?  [True, True]
Translation: X:110.58, Y:-2.69, Z:21.14
[[ 9.80220014e-01 -5.39632140e-02 -1.90411910e-01  1.10580179e+02]
 [ 5.65785988e-02  9.98363466e-01  8.32181956e-03 -2.68901598e+00]
 [ 1.89651223e-01 -1.89304532e-02  9.81669013e-01  2.11406850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.90486062399998 meters
Centerline goodness : 0.998457 with order 1
Centerline is valid?  [True, True]
Translation: X:110.64, Y:-2.69, Z:21.15
[[ 9.80227131e-01 -5.38337742e-02 -1.90411910e-01  1.10638899e+02]
 [ 5.64467631e-02  9.98370928e-01  8.32181956e-03 -2.69022630e+00]
 [ 1.89653721e-01 -1.89054093e-02  9.81669013e-01  2.11519316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 111.96486062399998 meters
Centerline goodness : 0.998479 with order 1
Centerline is valid?  [True, True]
Translation: X:110.70, Y:-2.69, Z:21.17
[[ 9.80152093e-01 -5.51826659e-02 -1.90412045e-01  1.10698776e+02]
 [ 5.78200271e-02  9.98292364e-01  8.31873101e-03 -2.69330943e+00]
 [ 1.89627841e-01 -1.91632512e-02  9.81669013e-01  2.11650910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.02486062399998 meters
Centerline goodness : 0.998019 with order 1
Centerline is valid?  [True, True]
Translation: X:110.76, Y:-2.70, Z:21.18
[[ 9.79905997e-01 -5.93935727e-02 -1.90411766e-01  1.10758105e+02]
 [ 6.21100821e-02  9.98034584e-01  8.32512827e-03 -2.69630628e+00]
 [ 1.89543068e-01 -1.99843335e-02  9.81669013e-01  2.11767071e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.08486062399999 meters
Centerline goodness : 0.997998 with order 1
Centerline is valid?  [True, True]
Translation: X:110.82, Y:-2.70, Z:21.19
[[ 9.79618808e-01 -6.39558455e-02 -1.90411765e-01  1.10816281e+02]
 [ 6.67567425e-02  9.97734549e-01  8.32513607e-03 -2.69857593e+00]
 [ 1.89447956e-01 -2.08667291e-02  9.81669013e-01  2.11866809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.14486062399999 meters
Centerline goodness : 0.997930 with order 1
Centerline is valid?  [True, True]
Translation: X:110.88, Y:-2.70, Z:21.20
[[ 9.79166905e-01 -7.05367984e-02 -1.90412007e-01  1.10876116e+02]
 [ 7.34582980e-02  9.97263587e-01  8.31961016e-03 -2.70159617e+00]
 [ 1.89304122e-01 -2.21336289e-02  9.81669013e-01  2.11964259e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.20486062399999 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:110.94, Y:-2.70, Z:21.20
[[ 9.78910036e-01 -7.40162235e-02 -1.90412026e-01  1.10935324e+02]
 [ 7.70019359e-02  9.96996235e-01  8.31917874e-03 -2.70425226e+00]
 [ 1.89224319e-01 -2.28058222e-02  9.81669013e-01  2.12046192e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.26486062399998 meters
Centerline goodness : 0.998527 with order 1
Centerline is valid?  [True, True]
Translation: X:110.99, Y:-2.70, Z:21.22
[[ 9.78680261e-01 -7.69963945e-02 -1.90411401e-01  1.10994272e+02]
 [ 8.00398939e-02  9.96756825e-01  8.33344265e-03 -2.70387085e+00]
 [ 1.89152219e-01 -2.33962842e-02  9.81669013e-01  2.12182158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.32486062399998 meters
Centerline goodness : 0.998570 with order 1
Centerline is valid?  [True, True]
Translation: X:111.06, Y:-2.70, Z:21.23
[[ 9.78680201e-01 -7.69973067e-02 -1.90411341e-01  1.11055719e+02]
 [ 8.00410860e-02  9.96756718e-01  8.33481554e-03 -2.70469438e+00]
 [ 1.89152025e-01 -2.33978495e-02  9.81669013e-01  2.12302492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.38486062399998 meters
Centerline goodness : 0.998274 with order 1
Centerline is valid?  [True, True]
Translation: X:111.12, Y:-2.70, Z:21.24
[[ 9.78672784e-01 -7.70929207e-02 -1.90410773e-01  1.11116921e+02]
 [ 8.01409484e-02  9.96748586e-01  8.34777061e-03 -2.70478628e+00]
 [ 1.89148115e-01 -2.34294359e-02  9.81669014e-01  2.12428084e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.44486062399999 meters
Centerline goodness : 0.998342 with order 1
Centerline is valid?  [True, True]
Translation: X:111.18, Y:-2.71, Z:21.25
[[ 9.78723130e-01 -7.64525565e-02 -1.90410191e-01  1.11175823e+02]
 [ 7.94912972e-02  9.96800495e-01  8.36102874e-03 -2.70550355e+00]
 [ 1.89161751e-01 -2.33190853e-02  9.81669014e-01  2.12537309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.50486062399999 meters
Centerline goodness : 0.998169 with order 1
Centerline is valid?  [True, True]
Translation: X:111.24, Y:-2.71, Z:21.27
[[ 9.78791248e-01 -7.55754772e-02 -1.90410191e-01  1.11236282e+02]
 [ 7.85980173e-02  9.96871328e-01  8.36102874e-03 -2.70646976e+00]
 [ 1.89182571e-01 -2.31495653e-02  9.81669014e-01  2.12684306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.56486062399999 meters
Centerline goodness : 0.998289 with order 1
Centerline is valid?  [True, True]
Translation: X:111.30, Y:-2.71, Z:21.28
[[ 9.78770723e-01 -7.58423108e-02 -1.90409601e-01  1.11295941e+02]
 [ 7.88723532e-02  9.96849548e-01  8.37445675e-03 -2.70935069e+00]
 [ 1.89174586e-01 -2.32147264e-02  9.81669014e-01  2.12794592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.62486062399998 meters
Centerline goodness : 0.998198 with order 1
Centerline is valid?  [True, True]
Translation: X:111.36, Y:-2.71, Z:21.29
[[ 9.78606618e-01 -7.79319105e-02 -1.90409308e-01  1.11356711e+02]
 [ 8.10018188e-02  9.96678716e-01  8.38110009e-03 -2.71286965e+00]
 [ 1.89123750e-01 -2.36253003e-02  9.81669014e-01  2.12893517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.68486062399998 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:111.42, Y:-2.72, Z:21.30
[[ 9.78421254e-01 -8.02262671e-02 -1.90409023e-01  1.11416492e+02]
 [ 8.33397830e-02  9.96485890e-01  8.38758460e-03 -2.71640395e+00]
 [ 1.89067000e-01 -2.40752377e-02  9.81669014e-01  2.13000619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.74486062399998 meters
Centerline goodness : 0.998491 with order 1
Centerline is valid?  [True, True]
Translation: X:111.48, Y:-2.72, Z:21.31
[[ 9.78080519e-01 -8.42787811e-02 -1.90408993e-01  1.11476229e+02]
 [ 8.74672346e-02  9.96132080e-01  8.38826336e-03 -2.72138914e+00]
 [ 1.88965553e-01 -2.48589450e-02  9.81669014e-01  2.13063805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.80486062399999 meters
Centerline goodness : 0.998350 with order 1
Centerline is valid?  [True, True]
Translation: X:111.53, Y:-2.72, Z:21.32
[[ 9.77661834e-01 -8.90048732e-02 -1.90408693e-01  1.11534600e+02]
 [ 9.22818328e-02  9.95697538e-01  8.39506236e-03 -2.72441205e+00]
 [ 1.88842265e-01 -2.57787952e-02  9.81669014e-01  2.13235947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.86486062399999 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:111.59, Y:-2.73, Z:21.34
[[ 9.77488589e-01 -9.08877151e-02 -1.90408722e-01  1.11593536e+02]
 [ 9.41992815e-02  9.95517970e-01  8.39441111e-03 -2.72765605e+00]
 [ 1.88792355e-01 -2.61418058e-02  9.81669014e-01  2.13367743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.92486062399999 meters
Centerline goodness : 0.998684 with order 1
Centerline is valid?  [True, True]
Translation: X:111.65, Y:-2.73, Z:21.35
[[ 9.77274589e-01 -9.31606527e-02 -1.90408695e-01  1.11652787e+02]
 [ 9.65142537e-02  9.95296198e-01  8.39501622e-03 -2.73092714e+00]
 [ 1.88730965e-01 -2.65813891e-02  9.81669014e-01  2.13467812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 112.98486062399999 meters
Centerline goodness : 0.998357 with order 1
Centerline is valid?  [True, True]
Translation: X:111.71, Y:-2.73, Z:21.36
[[ 9.77216664e-01 -9.37664984e-02 -1.90408599e-01  1.11712357e+02]
 [ 9.71316850e-02  9.95236114e-01  8.39718210e-03 -2.73419782e+00]
 [ 1.88714140e-01 -2.67005744e-02  9.81669014e-01  2.13599297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.04486062399998 meters
Centerline goodness : 0.998638 with order 1
Centerline is valid?  [True, True]
Translation: X:111.77, Y:-2.74, Z:21.37
[[ 9.77267742e-01 -9.32334024e-02 -1.90408227e-01  1.11771997e+02]
 [ 9.65903710e-02  9.95288725e-01  8.40562182e-03 -2.73774371e+00]
 [ 1.88727477e-01 -2.66061443e-02  9.81669014e-01  2.13714053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.10486062399998 meters
Centerline goodness : 0.998597 with order 1
Centerline is valid?  [True, True]
Translation: X:111.83, Y:-2.74, Z:21.38
[[ 9.77363362e-01 -9.22262328e-02 -1.90407933e-01  1.11832361e+02]
 [ 9.55658982e-02  9.95387559e-01  8.41226893e-03 -2.74273478e+00]
 [ 1.88753856e-01 -2.64183486e-02  9.81669014e-01  2.13832228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.16486062399999 meters
Centerline goodness : 0.998228 with order 1
Centerline is valid?  [True, True]
Translation: X:111.89, Y:-2.75, Z:21.40
[[ 9.77564660e-01 -9.00681108e-02 -1.90407644e-01  1.11891467e+02]
 [ 9.33692226e-02  9.95595958e-01  8.41880737e-03 -2.74774673e+00]
 [ 1.88810815e-01 -2.60081423e-02  9.81669014e-01  2.13968193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.22486062399999 meters
Centerline goodness : 0.998309 with order 1
Centerline is valid?  [True, True]
Translation: X:111.95, Y:-2.75, Z:21.41
[[ 9.77778754e-01 -8.77136801e-02 -1.90407504e-01  1.11950503e+02]
 [ 9.09719640e-02  9.95817841e-01  8.42196908e-03 -2.75281448e+00]
 [ 1.88872468e-01 -2.55565671e-02  9.81669014e-01  2.14070755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.28486062399999 meters
Centerline goodness : 0.998312 with order 1
Centerline is valid?  [True, True]
Translation: X:112.01, Y:-2.76, Z:21.42
[[ 9.77881456e-01 -8.65611607e-02 -1.90407520e-01  1.12009424e+02]
 [ 8.97981141e-02  9.95924382e-01  8.42162125e-03 -2.75888146e+00]
 [ 1.88902506e-01 -2.53335834e-02  9.81669014e-01  2.14195956e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.34486062399999 meters
Centerline goodness : 0.998285 with order 1
Centerline is valid?  [True, True]
Translation: X:112.07, Y:-2.77, Z:21.43
[[ 9.77925979e-01 -8.60567030e-02 -1.90407520e-01  1.12069335e+02]
 [ 8.92843484e-02  9.95970573e-01  8.42162125e-03 -2.76713797e+00]
 [ 1.88915549e-01 -2.52361335e-02  9.81669014e-01  2.14297316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.40486062399998 meters
Centerline goodness : 0.998024 with order 1
Centerline is valid?  [True, True]
Translation: X:112.13, Y:-2.78, Z:21.44
[[ 9.77770172e-01 -8.78101935e-02 -1.90407091e-01  1.12130036e+02]
 [ 9.10720432e-02  9.95808614e-01  8.43130518e-03 -2.77540541e+00]
 [ 1.88868667e-01 -2.55846415e-02  9.81669014e-01  2.14414510e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.46486062399998 meters
Centerline goodness : 0.997731 with order 1
Centerline is valid?  [True, True]
Translation: X:112.19, Y:-2.78, Z:21.45
[[ 9.77716917e-01 -8.84024628e-02 -1.90406501e-01  1.12189547e+02]
 [ 9.16777827e-02  9.95752917e-01  8.44461121e-03 -2.78033161e+00]
 [ 1.88851304e-01 -2.57124850e-02  9.81669014e-01  2.14535403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.52486062399998 meters
Centerline goodness : 0.997950 with order 1
Centerline is valid?  [True, True]
Translation: X:112.25, Y:-2.79, Z:21.46
[[ 9.77586057e-01 -8.98386776e-02 -1.90406182e-01  1.12247851e+02]
 [ 9.31418638e-02  9.95616975e-01  8.45179954e-03 -2.78728630e+00]
 [ 1.88812328e-01 -2.59971480e-02  9.81669014e-01  2.14637913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.58486062399999 meters
Centerline goodness : 0.997282 with order 1
Centerline is valid?  [True, True]
Translation: X:112.31, Y:-2.79, Z:21.48
[[ 9.77488226e-01 -9.08968296e-02 -1.90406233e-01  1.12307585e+02]
 [ 9.42193089e-02  9.95515599e-01  8.45063362e-03 -2.79366060e+00]
 [ 1.88784240e-01 -2.62003386e-02  9.81669014e-01  2.14773780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.64486062399999 meters
Centerline goodness : 0.997048 with order 1
Centerline is valid?  [True, True]
Translation: X:112.37, Y:-2.80, Z:21.49
[[ 9.77512854e-01 -9.06322302e-02 -1.90405934e-01  1.12367370e+02]
 [ 9.39511159e-02  9.95540889e-01  8.45736466e-03 -2.80057537e+00]
 [ 1.88790383e-01 -2.61560327e-02  9.81669014e-01  2.14886637e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.70486062399999 meters
Centerline goodness : 0.997107 with order 1
Centerline is valid?  [True, True]
Translation: X:112.43, Y:-2.81, Z:21.50
[[ 9.77714772e-01 -8.84283503e-02 -1.90405490e-01  1.12426624e+02]
 [ 9.17084949e-02  9.95749896e-01  8.46734779e-03 -2.80869681e+00]
 [ 1.88847494e-01 -2.57404520e-02  9.81669014e-01  2.14990887e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.76486062399998 meters
Centerline goodness : 0.997314 with order 1
Centerline is valid?  [True, True]
Translation: X:112.49, Y:-2.81, Z:21.51
[[ 9.77952321e-01 -8.57615093e-02 -1.90405415e-01  1.12485531e+02]
 [ 8.89927814e-02  9.95996265e-01  8.46905605e-03 -2.81335940e+00]
 [ 1.88916763e-01 -2.52270405e-02  9.81669014e-01  2.15121886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.82486062399998 meters
Centerline goodness : 0.997172 with order 1
Centerline is valid?  [True, True]
Translation: X:112.54, Y:-2.82, Z:21.52
[[ 9.78441876e-01 -7.99829893e-02 -1.90405401e-01  1.12543383e+02]
 [ 8.31076720e-02  9.96504583e-01  8.46935552e-03 -2.81915981e+00]
 [ 1.89062451e-01 -2.41109217e-02  9.81669014e-01  2.15238205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.88486062399998 meters
Centerline goodness : 0.997244 with order 1
Centerline is valid?  [True, True]
Translation: X:112.60, Y:-2.82, Z:21.54
[[ 9.78822079e-01 -7.51872228e-02 -1.90405409e-01  1.12602498e+02]
 [ 7.82233172e-02  9.96899888e-01  8.46917081e-03 -2.82417806e+00]
 [ 1.89178358e-01 -2.31839541e-02  9.81669014e-01  2.15359395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 113.94486062399999 meters
Centerline goodness : 0.996697 with order 1
Centerline is valid?  [True, True]
Translation: X:112.66, Y:-2.83, Z:21.54
[[ 9.79274555e-01 -6.90443156e-02 -1.90405432e-01  1.12661258e+02]
 [ 7.19668286e-02  9.97371073e-01  8.46867035e-03 -2.83076756e+00]
 [ 1.89320156e-01 -2.19960285e-02  9.81669014e-01  2.15448885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.00486062399999 meters
Centerline goodness : 0.997037 with order 1
Centerline is valid?  [True, True]
Translation: X:112.72, Y:-2.83, Z:21.56
[[ 9.79510887e-01 -6.56065957e-02 -1.90405347e-01  1.12720829e+02]
 [ 6.84659350e-02  9.97617494e-01  8.47056634e-03 -2.83481815e+00]
 [ 1.89395981e-01 -2.13332921e-02  9.81669014e-01  2.15562172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.06486062399999 meters
Centerline goodness : 0.997134 with order 1
Centerline is valid?  [True, True]
Translation: X:112.78, Y:-2.84, Z:21.57
[[ 9.79736256e-01 -6.21505163e-02 -1.90405310e-01  1.12780632e+02]
 [ 6.49461185e-02  9.97852813e-01  8.47139950e-03 -2.83990553e+00]
 [ 1.89469973e-01 -2.06658231e-02  9.81669014e-01  2.15674845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.12486062399998 meters
Centerline goodness : 0.996687 with order 1
Centerline is valid?  [True, True]
Translation: X:112.84, Y:-2.84, Z:21.58
[[ 9.79772174e-01 -6.15816641e-02 -1.90405319e-01  1.12841525e+02]
 [ 6.43667094e-02  9.97890357e-01  8.47120244e-03 -2.84408771e+00]
 [ 1.89481961e-01 -2.05556123e-02  9.81669014e-01  2.15782219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.18486062399998 meters
Centerline goodness : 0.996343 with order 1
Centerline is valid?  [True, True]
Translation: X:112.90, Y:-2.85, Z:21.59
[[ 9.79698920e-01 -6.27376101e-02 -1.90404881e-01  1.12900049e+02]
 [ 6.55459173e-02  9.97813512e-01  8.48102870e-03 -2.84841825e+00]
 [ 1.89456484e-01 -2.07891173e-02  9.81669014e-01  2.15875644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.24486062399998 meters
Centerline goodness : 0.995641 with order 1
Centerline is valid?  [True, True]
Translation: X:112.96, Y:-2.85, Z:21.60
[[ 9.79355676e-01 -6.78851747e-02 -1.90404999e-01  1.12959442e+02]
 [ 7.07881293e-02  9.97455341e-01  8.47838071e-03 -2.85259496e+00]
 [ 1.89344927e-01 -2.17817640e-02  9.81669014e-01  2.15990032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.30486062399999 meters
Centerline goodness : 0.996193 with order 1
Centerline is valid?  [True, True]
Translation: X:113.02, Y:-2.86, Z:21.61
[[ 9.78940205e-01 -7.36343685e-02 -1.90404974e-01  1.13018594e+02]
 [ 7.66436546e-02  9.97022496e-01  8.47894389e-03 -2.85708389e+00]
 [ 1.89213701e-01 -2.28937121e-02  9.81669014e-01  2.16095662e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.36486062399999 meters
Centerline goodness : 0.996784 with order 1
Centerline is valid?  [True, True]
Translation: X:113.08, Y:-2.86, Z:21.62
[[ 9.78766569e-01 -7.59075840e-02 -1.90404941e-01  1.13077376e+02]
 [ 7.89589974e-02  9.96841799e-01  8.47968755e-03 -2.86017613e+00]
 [ 1.89159931e-01 -2.33338179e-02  9.81669014e-01  2.16216138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.42486062399999 meters
Centerline goodness : 0.996668 with order 1
Centerline is valid?  [True, True]
Translation: X:113.14, Y:-2.86, Z:21.63
[[ 9.78708571e-01 -7.66519197e-02 -1.90404877e-01  1.13138569e+02]
 [ 7.97173537e-02  9.96781427e-01  8.48112403e-03 -2.86275249e+00]
 [ 1.89141951e-01 -2.34791217e-02  9.81669014e-01  2.16334017e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.48486062399998 meters
Centerline goodness : 0.996933 with order 1
Centerline is valid?  [True, True]
Translation: X:113.20, Y:-2.87, Z:21.64
[[ 9.78817751e-01 -7.52463245e-02 -1.90404307e-01  1.13199423e+02]
 [ 7.82882490e-02  9.96894580e-01  8.49389812e-03 -2.86578899e+00]
 [ 1.89173887e-01 -2.32203981e-02  9.81669014e-01  2.16440197e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.54486062399998 meters
Centerline goodness : 0.996536 with order 1
Centerline is valid?  [True, True]
Translation: X:113.26, Y:-2.87, Z:21.66
[[ 9.79047729e-01 -7.21939554e-02 -1.90403719e-01  1.13259316e+02]
 [ 7.51820253e-02  9.97133538e-01  8.50706592e-03 -2.86810287e+00]
 [ 1.89243775e-01 -2.26437608e-02  9.81669014e-01  2.16551467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.60486062399998 meters
Centerline goodness : 0.996369 with order 1
Centerline is valid?  [True, True]
Translation: X:113.32, Y:-2.87, Z:21.67
[[ 9.79325551e-01 -6.83223323e-02 -1.90403580e-01  1.13318551e+02]
 [ 7.12394656e-02  9.97422937e-01  8.51017404e-03 -2.86877848e+00]
 [ 1.89331463e-01 -2.18984802e-02  9.81669014e-01  2.16673272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.66486062399999 meters
Centerline goodness : 0.996580 with order 1
Centerline is valid?  [True, True]
Translation: X:113.38, Y:-2.87, Z:21.68
[[ 9.79513745e-01 -6.55690194e-02 -1.90403589e-01  1.13377614e+02]
 [ 6.84352261e-02  9.97619266e-01  8.50996367e-03 -2.87049629e+00]
 [ 1.89392299e-01 -2.13659391e-02  9.81669014e-01  2.16787210e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.72486062399999 meters
Centerline goodness : 0.997019 with order 1
Centerline is valid?  [True, True]
Translation: X:113.44, Y:-2.87, Z:21.69
[[ 9.79642206e-01 -6.36210470e-02 -1.90403546e-01  1.13436101e+02]
 [ 6.64514281e-02  9.97753362e-01  8.51092390e-03 -2.87214572e+00]
 [ 1.89434305e-01 -2.09902478e-02  9.81669014e-01  2.16893953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.78486062399999 meters
Centerline goodness : 0.996793 with order 1
Centerline is valid?  [True, True]
Translation: X:113.50, Y:-2.87, Z:21.70
[[ 9.79778133e-01 -6.14918492e-02 -1.90403684e-01  1.13495496e+02]
 [ 6.42822709e-02  9.97895489e-01  8.50784177e-03 -2.87210145e+00]
 [ 1.89479815e-01 -2.05753785e-02  9.81669014e-01  2.17001185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.84486062399999 meters
Centerline goodness : 0.997403 with order 1
Centerline is valid?  [True, True]
Translation: X:113.55, Y:-2.87, Z:21.71
[[ 9.79804774e-01 -6.10660008e-02 -1.90403645e-01  1.13554869e+02]
 [ 6.38487159e-02  9.97923315e-01  8.50871653e-03 -2.87148399e+00]
 [ 1.89488644e-01 -2.04939093e-02  9.81669014e-01  2.17096006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.90486062399998 meters
Centerline goodness : 0.996871 with order 1
Centerline is valid?  [True, True]
Translation: X:113.61, Y:-2.87, Z:21.72
[[ 9.79765456e-01 -6.16936304e-02 -1.90403645e-01  1.13614178e+02]
 [ 6.44879512e-02  9.97882210e-01  8.50871653e-03 -2.87104937e+00]
 [ 1.89475477e-01 -2.06152875e-02  9.81669014e-01  2.17213068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 114.96486062399998 meters
Centerline goodness : 0.997522 with order 1
Centerline is valid?  [True, True]
Translation: X:113.67, Y:-2.87, Z:21.73
[[ 9.79625415e-01 -6.38781669e-02 -1.90403848e-01  1.13673856e+02]
 [ 6.67120066e-02  9.97736031e-01  8.50417950e-03 -2.87049829e+00]
 [ 1.89429548e-01 -2.10331331e-02  9.81669014e-01  2.17323000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.02486062399998 meters
Centerline goodness : 0.997633 with order 1
Centerline is valid?  [True, True]
Translation: X:113.73, Y:-2.87, Z:21.74
[[ 9.79552993e-01 -6.49792142e-02 -1.90403874e-01  1.13733348e+02]
 [ 6.78332964e-02  9.97660430e-01  8.50359677e-03 -2.87090799e+00]
 [ 1.89405853e-01 -2.12454461e-02  9.81669014e-01  2.17447577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.08486062399999 meters
Centerline goodness : 0.997687 with order 1
Centerline is valid?  [True, True]
Translation: X:113.79, Y:-2.87, Z:21.76
[[ 9.79580816e-01 -6.45587660e-02 -1.90403755e-01  1.13792562e+02]
 [ 6.74055878e-02  9.97689396e-01  8.50626340e-03 -2.87009286e+00]
 [ 1.89414653e-01 -2.11668494e-02  9.81669014e-01  2.17562403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.14486062399999 meters
Centerline goodness : 0.997793 with order 1
Centerline is valid?  [True, True]
Translation: X:113.85, Y:-2.87, Z:21.77
[[ 9.79640359e-01 -6.36510969e-02 -1.90403004e-01  1.13852543e+02]
 [ 6.64843574e-02  9.97751065e-01  8.52302765e-03 -2.87068637e+00]
 [ 1.89432300e-01 -2.10083233e-02  9.81669014e-01  2.17674526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.20486062399999 meters
Centerline goodness : 0.997859 with order 1
Centerline is valid?  [True, True]
Translation: X:113.91, Y:-2.87, Z:21.78
[[ 9.79719549e-01 -6.24203877e-02 -1.90402995e-01  1.13910569e+02]
 [ 6.52309341e-02  9.97833794e-01  8.52323294e-03 -2.87130883e+00]
 [ 1.89458519e-01 -2.07705432e-02  9.81669014e-01  2.17782426e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.26486062399998 meters
Centerline goodness : 0.997885 with order 1
Centerline is valid?  [True, True]
Translation: X:113.97, Y:-2.87, Z:21.79
[[ 9.79750289e-01 -6.19351802e-02 -1.90403269e-01  1.13968876e+02]
 [ 6.47355796e-02  9.97866105e-01  8.51711105e-03 -2.87285536e+00]
 [ 1.89469460e-01 -2.06705080e-02  9.81669014e-01  2.17894873e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.32486062399998 meters
Centerline goodness : 0.998100 with order 1
Centerline is valid?  [True, True]
Translation: X:114.03, Y:-2.87, Z:21.80
[[ 9.79772839e-01 -6.15765926e-02 -1.90403538e-01  1.14028616e+02]
 [ 6.43692044e-02  9.97889857e-01  8.51108636e-03 -2.87392643e+00]
 [ 1.89477676e-01 -2.05950555e-02  9.81669015e-01  2.18015456e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.38486062399998 meters
Centerline goodness : 0.997902 with order 1
Centerline is valid?  [True, True]
Translation: X:114.09, Y:-2.88, Z:21.81
[[ 9.79777693e-01 -6.15001973e-02 -1.90403250e-01  1.14088457e+02]
 [ 6.42926319e-02  9.97894739e-01  8.51751884e-03 -2.87578541e+00]
 [ 1.89478573e-01 -2.05868011e-02  9.81669015e-01  2.18100387e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.44486062399999 meters
Centerline goodness : 0.998116 with order 1
Centerline is valid?  [True, True]
Translation: X:114.15, Y:-2.88, Z:21.82
[[ 9.79832985e-01 -6.06141533e-02 -1.90402852e-01  1.14148315e+02]
 [ 6.33919114e-02  9.97952286e-01  8.52641056e-03 -2.87519810e+00]
 [ 1.89496141e-01 -2.04244590e-02  9.81669015e-01  2.18219899e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.50486062399999 meters
Centerline goodness : 0.998110 with order 1
Centerline is valid?  [True, True]
Translation: X:114.21, Y:-2.87, Z:21.83
[[ 9.79924442e-01 -5.91176464e-02 -1.90402708e-01  1.14207218e+02]
 [ 6.18683469e-02  9.98047871e-01  8.52962779e-03 -2.87415188e+00]
 [ 1.89526766e-01 -2.01382915e-02  9.81669015e-01  2.18311362e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.56486062399999 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:114.27, Y:-2.87, Z:21.84
[[ 9.80105210e-01 -5.60404132e-02 -1.90402859e-01  1.14266425e+02]
 [ 5.87335458e-02  9.98237283e-01  8.52626117e-03 -2.87023065e+00]
 [ 1.89589417e-01 -1.95396680e-02  9.81669015e-01  2.18446867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.62486062399998 meters
Centerline goodness : 0.998719 with order 1
Centerline is valid?  [True, True]
Translation: X:114.33, Y:-2.86, Z:21.86
[[ 9.80291148e-01 -5.26876209e-02 -1.90402940e-01  1.14325654e+02]
 [ 5.53183688e-02  9.98432377e-01  8.52445183e-03 -2.86472537e+00]
 [ 1.89655327e-01 -1.88892247e-02  9.81669015e-01  2.18581508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.68486062399998 meters
Centerline goodness : 0.998361 with order 1
Centerline is valid?  [True, True]
Translation: X:114.38, Y:-2.86, Z:21.87
[[ 9.80346909e-01 -5.16399867e-02 -1.90402864e-01  1.14384867e+02]
 [ 5.42516731e-02  9.98490892e-01  8.52615149e-03 -2.86286598e+00]
 [ 1.89675235e-01 -1.86882602e-02  9.81669015e-01  2.18695692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.74486062399998 meters
Centerline goodness : 0.998299 with order 1
Centerline is valid?  [True, True]
Translation: X:114.44, Y:-2.86, Z:21.88
[[ 9.80335146e-01 -5.18622944e-02 -1.90403006e-01  1.14442776e+02]
 [ 5.44774855e-02  9.98478624e-01  8.52298194e-03 -2.85885156e+00]
 [ 1.89671310e-01 -1.87280557e-02  9.81669015e-01  2.18802643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.80486062399999 meters
Centerline goodness : 0.999087 with order 1
Centerline is valid?  [True, True]
Translation: X:114.50, Y:-2.86, Z:21.89
[[ 9.80299361e-01 -5.25322617e-02 -1.90403582e-01  1.14501027e+02]
 [ 5.51573722e-02  9.98441407e-01  8.51008923e-03 -2.85816387e+00]
 [ 1.89659766e-01 -1.88445963e-02  9.81669015e-01  2.18907893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.86486062399999 meters
Centerline goodness : 0.998497 with order 1
Centerline is valid?  [True, True]
Translation: X:114.56, Y:-2.86, Z:21.90
[[ 9.80223248e-01 -5.39332390e-02 -1.90403755e-01  1.14560504e+02]
 [ 5.65835322e-02  9.98361632e-01  8.50622554e-03 -2.85767725e+00]
 [ 1.89633035e-01 -1.91117170e-02  9.81669015e-01  2.19016424e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.92486062399999 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:114.62, Y:-2.86, Z:21.91
[[ 9.80064155e-01 -5.67508834e-02 -1.90403755e-01  1.14620041e+02]
 [ 5.94533085e-02  9.98194845e-01  8.50622554e-03 -2.85732611e+00]
 [ 1.89577310e-01 -1.96567799e-02  9.81669015e-01  2.19110015e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 115.98486062399998 meters
Centerline goodness : 0.998037 with order 1
Centerline is valid?  [True, True]
Translation: X:114.68, Y:-2.86, Z:21.92
[[ 9.79922509e-01 -5.91463063e-02 -1.90403758e-01  1.14678884e+02]
 [ 6.18930248e-02  9.98046542e-01  8.50614348e-03 -2.85791364e+00]
 [ 1.89528705e-01 -2.01200260e-02  9.81669015e-01  2.19224401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.04486062399998 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:114.74, Y:-2.86, Z:21.93
[[ 9.79724228e-01 -6.23441020e-02 -1.90403912e-01  1.14738334e+02]
 [ 6.51492952e-02  9.97839302e-01  8.50270162e-03 -2.85791607e+00]
 [ 1.89462413e-01 -2.07349834e-02  9.81669015e-01  2.19344260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.10486062399998 meters
Centerline goodness : 0.997884 with order 1
Centerline is valid?  [True, True]
Translation: X:114.80, Y:-2.86, Z:21.95
[[ 9.79692541e-01 -6.28403855e-02 -1.90403812e-01  1.14797318e+02]
 [ 6.56551861e-02  9.97806125e-01  8.50494820e-03 -2.85829747e+00]
 [ 1.89451635e-01 -2.08332320e-02  9.81669015e-01  2.19456940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.16486062399999 meters
Centerline goodness : 0.998326 with order 1
Centerline is valid?  [True, True]
Translation: X:114.86, Y:-2.86, Z:21.96
[[ 9.79704779e-01 -6.26497307e-02 -1.90403667e-01  1.14857468e+02]
 [ 6.54616256e-02  9.97818814e-01  8.50817342e-03 -2.85697292e+00]
 [ 1.89455327e-01 -2.07996318e-02  9.81669015e-01  2.19579646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.22486062399999 meters
Centerline goodness : 0.998385 with order 1
Centerline is valid?  [True, True]
Translation: X:114.92, Y:-2.86, Z:21.97
[[ 9.79831533e-01 -6.06359594e-02 -1.90403380e-01  1.14916351e+02]
 [ 6.34118543e-02  9.97951120e-01  8.51461155e-03 -2.85609048e+00]
 [ 1.89496974e-01 -2.04167163e-02  9.81669015e-01  2.19678623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.28486062399999 meters
Centerline goodness : 0.998453 with order 1
Centerline is valid?  [True, True]
Translation: X:114.97, Y:-2.86, Z:21.98
[[ 9.79982500e-01 -5.81445969e-02 -1.90403531e-01  1.14974886e+02]
 [ 6.08737626e-02  9.98109185e-01  8.51121788e-03 -2.85594142e+00]
 [ 1.89548632e-01 -1.99314239e-02  9.81669015e-01  2.19784073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.34486062399999 meters
Centerline goodness : 0.998440 with order 1
Centerline is valid?  [True, True]
Translation: X:115.03, Y:-2.85, Z:21.99
[[ 9.80146978e-01 -5.53023042e-02 -1.90403670e-01  1.15034773e+02]
 [ 5.79782927e-02  9.98281588e-01  8.50811464e-03 -2.85303851e+00]
 [ 1.89605960e-01 -1.93784826e-02  9.81669015e-01  2.19908750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.40486062399998 meters
Centerline goodness : 0.998065 with order 1
Centerline is valid?  [True, True]
Translation: X:115.09, Y:-2.85, Z:22.00
[[ 9.80278784e-01 -5.29149470e-02 -1.90403555e-01  1.15093636e+02]
 [ 5.55472542e-02  9.98419787e-01  8.51068506e-03 -2.85344524e+00]
 [ 1.89652334e-01 -1.89192387e-02  9.81669015e-01  2.20024845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.46486062399998 meters
Centerline goodness : 0.998162 with order 1
Centerline is valid?  [True, True]
Translation: X:115.15, Y:-2.85, Z:22.01
[[ 9.80387900e-01 -5.08531016e-02 -1.90403592e-01  1.15152951e+02]
 [ 5.34470904e-02  9.98534421e-01  8.50986236e-03 -2.85357077e+00]
 [ 1.89691788e-01 -1.85194841e-02  9.81669015e-01  2.20139233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.52486062399998 meters
Centerline goodness : 0.998248 with order 1
Centerline is valid?  [True, True]
Translation: X:115.21, Y:-2.85, Z:22.02
[[ 9.80464258e-01 -4.93589055e-02 -1.90403615e-01  1.15211176e+02]
 [ 5.19251378e-02  9.98614726e-01  8.50935437e-03 -2.85267508e+00]
 [ 1.89719841e-01 -1.82298518e-02  9.81669015e-01  2.20243212e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.58486062399999 meters
Centerline goodness : 0.998589 with order 1
Centerline is valid?  [True, True]
Translation: X:115.27, Y:-2.85, Z:22.04
[[ 9.80470074e-01 -4.92422071e-02 -1.90403886e-01  1.15268685e+02]
 [ 5.18051100e-02  9.98621012e-01  8.50327921e-03 -2.85297128e+00]
 [ 1.89722601e-01 -1.82011051e-02  9.81669015e-01  2.20354452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.64486062399999 meters
Centerline goodness : 0.998438 with order 1
Centerline is valid?  [True, True]
Translation: X:115.33, Y:-2.85, Z:22.05
[[ 9.80400357e-01 -5.06042629e-02 -1.90405746e-01  1.15325868e+02]
 [ 5.31843254e-02  9.98548863e-01  8.46141675e-03 -2.85309637e+00]
 [ 1.89701258e-01 -1.84221772e-02  9.81669016e-01  2.20481567e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.70486062399999 meters
Centerline goodness : 0.998535 with order 1
Centerline is valid?  [True, True]
Translation: X:115.38, Y:-2.85, Z:22.06
[[ 9.80335562e-01 -5.18370612e-02 -1.90407735e-01  1.15384063e+02]
 [ 5.44312886e-02  9.98482047e-01  8.41642752e-03 -2.85374980e+00]
 [ 1.89682422e-01 -1.86150616e-02  9.81669017e-01  2.20601798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.76486062399998 meters
Centerline goodness : 0.998683 with order 1
Centerline is valid?  [True, True]
Translation: X:115.44, Y:-2.85, Z:22.07
[[ 9.80181339e-01 -5.46742620e-02 -1.90408160e-01  1.15442404e+02]
 [ 5.73191518e-02  9.98320510e-01  8.40681311e-03 -2.85402675e+00]
 [ 1.89628735e-01 -1.91542355e-02  9.81669017e-01  2.20690862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.82486062399998 meters
Centerline goodness : 0.998804 with order 1
Centerline is valid?  [True, True]
Translation: X:115.50, Y:-2.86, Z:22.08
[[ 9.80073000e-01 -5.65833795e-02 -1.90408078e-01  1.15501141e+02]
 [ 5.92639530e-02  9.98206932e-01  8.40866925e-03 -2.85506933e+00]
 [ 1.89590872e-01 -1.95254451e-02  9.81669017e-01  2.20796041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.88486062399998 meters
Centerline goodness : 0.998825 with order 1
Centerline is valid?  [True, True]
Translation: X:115.56, Y:-2.86, Z:22.09
[[ 9.79963317e-01 -5.84512930e-02 -1.90408362e-01  1.15560005e+02]
 [ 6.11651883e-02  9.98092291e-01  8.40223506e-03 -2.85531527e+00]
 [ 1.89553996e-01 -1.98802454e-02  9.81669017e-01  2.20890691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 116.94486062399999 meters
Centerline goodness : 0.998574 with order 1
Centerline is valid?  [True, True]
Translation: X:115.62, Y:-2.86, Z:22.10
[[ 9.79945239e-01 -5.87531568e-02 -1.90408494e-01  1.15619633e+02]
 [ 6.14720612e-02  9.98073463e-01  8.39924184e-03 -2.85656485e+00]
 [ 1.89548183e-01 -1.99355996e-02  9.81669017e-01  2.21000703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.00486062399999 meters
Centerline goodness : 0.998501 with order 1
Centerline is valid?  [True, True]
Translation: X:115.68, Y:-2.86, Z:22.11
[[ 9.79874989e-01 -5.99133625e-02 -1.90408494e-01  1.15678668e+02]
 [ 6.26537286e-02  9.97999981e-01  8.39924184e-03 -2.85822645e+00]
 [ 1.89524446e-01 -2.01600091e-02  9.81669017e-01  2.21125020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.06486062399999 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:115.74, Y:-2.86, Z:22.12
[[ 9.79808999e-01 -6.09830363e-02 -1.90408494e-01  1.15737677e+02]
 [ 6.37431875e-02  9.97930989e-01  8.39924184e-03 -2.86157941e+00]
 [ 1.89502325e-01 -2.03668971e-02  9.81669017e-01  2.21240560e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.12486062399998 meters
Centerline goodness : 0.998779 with order 1
Centerline is valid?  [True, True]
Translation: X:115.80, Y:-2.87, Z:22.14
[[ 9.79723634e-01 -6.23394812e-02 -1.90408482e-01  1.15797082e+02]
 [ 6.51247715e-02  9.97841777e-01  8.39951618e-03 -2.86524943e+00]
 [ 1.89473916e-01 -2.06295134e-02  9.81669017e-01  2.21354416e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.18486062399998 meters
Centerline goodness : 0.998512 with order 1
Centerline is valid?  [True, True]
Translation: X:115.86, Y:-2.87, Z:22.15
[[ 9.79691923e-01 -6.28358681e-02 -1.90408482e-01  1.15857033e+02]
 [ 6.56303380e-02  9.97808652e-01  8.39951618e-03 -2.87038681e+00]
 [ 1.89463440e-01 -2.07255112e-02  9.81669017e-01  2.21467297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.24486062399998 meters
Centerline goodness : 0.998318 with order 1
Centerline is valid?  [True, True]
Translation: X:115.92, Y:-2.87, Z:22.16
[[ 9.79725468e-01 -6.23110900e-02 -1.90408341e-01  1.15916584e+02]
 [ 6.50964662e-02  9.97843597e-01  8.40269722e-03 -2.87488588e+00]
 [ 1.89474163e-01 -2.06272466e-02  9.81669017e-01  2.21575080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.30486062399999 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:115.97, Y:-2.88, Z:22.17
[[ 9.79738333e-01 -6.21088985e-02 -1.90408203e-01  1.15974407e+02]
 [ 6.48911383e-02  9.97856945e-01  8.40583482e-03 -2.87790700e+00]
 [ 1.89478070e-01 -2.05913236e-02  9.81669017e-01  2.21682849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.36486062399999 meters
Centerline goodness : 0.997932 with order 1
Centerline is valid?  [True, True]
Translation: X:116.03, Y:-2.88, Z:22.18
[[ 9.79804486e-01 -6.10565114e-02 -1.90408170e-01  1.16034191e+02]
 [ 6.38194297e-02  9.97926054e-01  8.40657220e-03 -2.88283645e+00]
 [ 1.89499998e-01 -2.03885380e-02  9.81669017e-01  2.21819490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.42486062399999 meters
Centerline goodness : 0.997864 with order 1
Centerline is valid?  [True, True]
Translation: X:116.09, Y:-2.89, Z:22.19
[[ 9.79878128e-01 -5.98639496e-02 -1.90407884e-01  1.16092842e+02]
 [ 6.26060564e-02  9.98002857e-01  8.41305799e-03 -2.88675441e+00]
 [ 1.89523973e-01 -2.01644582e-02  9.81669017e-01  2.21907516e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.48486062399998 meters
Centerline goodness : 0.998527 with order 1
Centerline is valid?  [True, True]
Translation: X:116.15, Y:-2.89, Z:22.20
[[ 9.79969680e-01 -5.83456389e-02 -1.90408018e-01  1.16149263e+02]
 [ 6.10590747e-02  9.98098723e-01  8.41001436e-03 -2.89044423e+00]
 [ 1.89555312e-01 -1.98676965e-02  9.81669017e-01  2.22009834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.54486062399998 meters
Centerline goodness : 0.998257 with order 1
Centerline is valid?  [True, True]
Translation: X:116.21, Y:-2.89, Z:22.21
[[ 9.80034834e-01 -5.72386122e-02 -1.90408679e-01  1.16207933e+02]
 [ 5.99286866e-02  9.98167359e-01  8.39502730e-03 -2.89337275e+00]
 [ 1.89579208e-01 -1.96383612e-02  9.81669017e-01  2.22145018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.60486062399998 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:116.27, Y:-2.90, Z:22.23
[[ 9.80135116e-01 -5.54948396e-02 -1.90408708e-01  1.16266553e+02]
 [ 5.81525189e-02  9.98272417e-01  8.39435471e-03 -2.89642187e+00]
 [ 1.89613918e-01 -1.93003479e-02  9.81669017e-01  2.22264445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.66486062399999 meters
Centerline goodness : 0.998648 with order 1
Centerline is valid?  [True, True]
Translation: X:116.33, Y:-2.90, Z:22.24
[[ 9.80212488e-01 -5.41102726e-02 -1.90408919e-01  1.16325504e+02]
 [ 5.67414100e-02  9.98353658e-01  8.38957566e-03 -2.89890510e+00]
 [ 1.89641479e-01 -1.90276374e-02  9.81669017e-01  2.22374777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.72486062399999 meters
Centerline goodness : 0.998667 with order 1
Centerline is valid?  [True, True]
Translation: X:116.38, Y:-2.90, Z:22.25
[[ 9.80336646e-01 -5.18111646e-02 -1.90409203e-01  1.16384301e+02]
 [ 5.43985080e-02  9.98484114e-01  8.38313520e-03 -2.90190450e+00]
 [ 1.89686224e-01 -1.85762712e-02  9.81669017e-01  2.22479908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.78486062399999 meters
Centerline goodness : 0.998864 with order 1
Centerline is valid?  [True, True]
Translation: X:116.44, Y:-2.90, Z:22.26
[[ 9.80357408e-01 -5.14160343e-02 -1.90409410e-01  1.16441492e+02]
 [ 5.39951561e-02  9.98506047e-01  8.37842100e-03 -2.90440857e+00]
 [ 1.89694162e-01 -1.84950329e-02  9.81669017e-01  2.22578886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.84486062399998 meters
Centerline goodness : 0.998346 with order 1
Centerline is valid?  [True, True]
Translation: X:116.50, Y:-2.91, Z:22.27
[[ 9.80284058e-01 -5.27935144e-02 -1.90410110e-01  1.16499153e+02]
 [ 5.53950674e-02  9.98429495e-01  8.36247359e-03 -2.90744408e+00]
 [ 1.89669586e-01 -1.87453804e-02  9.81669017e-01  2.22697314e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.90486062399998 meters
Centerline goodness : 0.998571 with order 1
Centerline is valid?  [True, True]
Translation: X:116.56, Y:-2.91, Z:22.28
[[ 9.80180240e-01 -5.46803032e-02 -1.90412085e-01  1.16557780e+02]
 [ 5.73080858e-02  9.98321895e-01  8.31727378e-03 -2.91212267e+00]
 [ 1.89637762e-01 -1.90645795e-02  9.81669018e-01  2.22810905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 117.96486062399998 meters
Centerline goodness : 0.998372 with order 1
Centerline is valid?  [True, True]
Translation: X:116.61, Y:-2.92, Z:22.29
[[ 9.80135255e-01 -5.54803018e-02 -1.90412233e-01  1.16614985e+02]
 [ 5.81222382e-02  9.98274854e-01  8.31388065e-03 -2.91548382e+00]
 [ 1.89622488e-01 -1.92159127e-02  9.81669018e-01  2.22921526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.02486062399998 meters
Centerline goodness : 0.998279 with order 1
Centerline is valid?  [True, True]
Translation: X:116.67, Y:-2.92, Z:22.30
[[ 9.80071743e-01 -5.65846286e-02 -1.90414177e-01  1.16671563e+02]
 [ 5.92383953e-02  9.98209614e-01  8.26911654e-03 -2.91862431e+00]
 [ 1.89605358e-01 -1.93841578e-02  9.81669019e-01  2.23024858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.08486062399999 meters
Centerline goodness : 0.998090 with order 1
Centerline is valid?  [True, True]
Translation: X:116.73, Y:-2.92, Z:22.31
[[ 9.79926574e-01 -5.90431223e-02 -1.90414859e-01  1.16731218e+02]
 [ 6.17393590e-02  9.98058181e-01  8.25338611e-03 -2.92311436e+00]
 [ 1.89557802e-01 -1.98438037e-02  9.81669019e-01  2.23135107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.14486062399999 meters
Centerline goodness : 0.998045 with order 1
Centerline is valid?  [True, True]
Translation: X:116.79, Y:-2.93, Z:22.33
[[ 9.79769719e-01 -6.15911082e-02 -1.90414896e-01  1.16790276e+02]
 [ 6.43343224e-02  9.97894278e-01  8.25254008e-03 -2.92674665e+00]
 [ 1.89505652e-01 -2.03358022e-02  9.81669019e-01  2.23266775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.20486062399999 meters
Centerline goodness : 0.998343 with order 1
Centerline is valid?  [True, True]
Translation: X:116.85, Y:-2.93, Z:22.34
[[ 9.79593258e-01 -6.43366502e-02 -1.90414926e-01  1.16848826e+02]
 [ 6.71305143e-02  9.97710079e-01  8.25184726e-03 -2.93090408e+00]
 [ 1.89447994e-01 -2.08661058e-02  9.81669019e-01  2.23357763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.26486062399998 meters
Centerline goodness : 0.998030 with order 1
Centerline is valid?  [True, True]
Translation: X:116.91, Y:-2.94, Z:22.35
[[ 9.79519800e-01 -6.54457727e-02 -1.90414843e-01  1.16908186e+02]
 [ 6.82605164e-02  9.97633388e-01  8.25376531e-03 -2.93566894e+00]
 [ 1.89424031e-01 -2.10825420e-02  9.81669019e-01  2.23483694e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.32486062399998 meters
Centerline goodness : 0.997917 with order 1
Centerline is valid?  [True, True]
Translation: X:116.97, Y:-2.94, Z:22.36
[[ 9.79424173e-01 -6.68620297e-02 -1.90414703e-01  1.16967610e+02]
 [ 6.97035795e-02  9.97533575e-01  8.25698380e-03 -2.94067922e+00]
 [ 1.89392981e-01 -2.13596759e-02  9.81669019e-01  2.23613248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.38486062399998 meters
Centerline goodness : 0.998017 with order 1
Centerline is valid?  [True, True]
Translation: X:117.03, Y:-2.95, Z:22.38
[[ 9.79425041e-01 -6.68497163e-02 -1.90414561e-01  1.17027594e+02]
 [ 6.96916652e-02  9.97534380e-01  8.26024911e-03 -2.94604945e+00]
 [ 1.89392876e-01 -2.13606027e-02  9.81669019e-01  2.23754552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.44486062399999 meters
Centerline goodness : 0.997782 with order 1
Centerline is valid?  [True, True]
Translation: X:117.09, Y:-2.95, Z:22.39
[[ 9.79491496e-01 -6.58705414e-02 -1.90413975e-01  1.17086494e+02]
 [ 6.86969745e-02  9.97603263e-01  8.27373782e-03 -2.95096091e+00]
 [ 1.89412608e-01 -2.11849198e-02  9.81669019e-01  2.23862596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.50486062399999 meters
Centerline goodness : 0.997910 with order 1
Centerline is valid?  [True, True]
Translation: X:117.15, Y:-2.96, Z:22.40
[[ 9.79633642e-01 -6.37216198e-02 -1.90413975e-01  1.17146695e+02]
 [ 6.65083134e-02  9.97751567e-01  8.27373782e-03 -2.95701484e+00]
 [ 1.89458626e-01 -2.07693443e-02  9.81669019e-01  2.23982218e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.56486062399999 meters
Centerline goodness : 0.997873 with order 1
Centerline is valid?  [True, True]
Translation: X:117.21, Y:-2.96, Z:22.41
[[ 9.79687869e-01 -6.28832740e-02 -1.90413689e-01  1.17206363e+02]
 [ 6.56557288e-02  9.97807978e-01  8.28033196e-03 -2.96131504e+00]
 [ 1.89475603e-01 -2.06138903e-02  9.81669019e-01  2.24107312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.62486062399998 meters
Centerline goodness : 0.998407 with order 1
Centerline is valid?  [True, True]
Translation: X:117.27, Y:-2.97, Z:22.42
[[ 9.79722986e-01 -6.23346460e-02 -1.90413400e-01  1.17265773e+02]
 [ 6.50982273e-02  9.97844450e-01  8.28696454e-03 -2.96785414e+00]
 [ 1.89486389e-01 -2.05145044e-02  9.81669019e-01  2.24204168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.68486062399998 meters
Centerline goodness : 0.998036 with order 1
Centerline is valid?  [True, True]
Translation: X:117.33, Y:-2.97, Z:22.43
[[ 9.79682653e-01 -6.29657867e-02 -1.90413259e-01  1.17326109e+02]
 [ 6.57416628e-02  9.97802238e-01  8.29019814e-03 -2.97358399e+00]
 [ 1.89472777e-01 -2.06398476e-02  9.81669019e-01  2.24335749e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.74486062399998 meters
Centerline goodness : 0.998092 with order 1
Centerline is valid?  [True, True]
Translation: X:117.39, Y:-2.98, Z:22.45
[[ 9.79645928e-01 -6.35359040e-02 -1.90412828e-01  1.17385780e+02]
 [ 6.63242246e-02  9.97763602e-01  8.30009255e-03 -2.97844155e+00]
 [ 1.89459635e-01 -2.07601350e-02  9.81669019e-01  2.24458396e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.80486062399999 meters
Centerline goodness : 0.998359 with order 1
Centerline is valid?  [True, True]
Translation: X:117.45, Y:-2.98, Z:22.46
[[ 9.79543915e-01 -6.50905633e-02 -1.90412544e-01  1.17445043e+02]
 [ 6.79088848e-02  9.97656947e-01  8.30660727e-03 -2.98380444e+00]
 [ 1.89425715e-01 -2.10673901e-02  9.81669019e-01  2.24551647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.86486062399999 meters
Centerline goodness : 0.998089 with order 1
Centerline is valid?  [True, True]
Translation: X:117.50, Y:-2.99, Z:22.47
[[ 9.79386128e-01 -6.74243848e-02 -1.90412089e-01  1.17504196e+02]
 [ 7.02878540e-02  9.97492078e-01  8.31701190e-03 -2.99052570e+00]
 [ 1.89373781e-01 -2.15292232e-02  9.81669019e-01  2.24672753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.92486062399999 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:117.56, Y:-3.00, Z:22.48
[[ 9.79265789e-01 -6.91502832e-02 -1.90412063e-01  1.17562994e+02]
 [ 7.20457713e-02  9.97366645e-01  8.31760891e-03 -2.99574474e+00]
 [ 1.89335476e-01 -2.18635338e-02  9.81669019e-01  2.24765939e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 118.98486062399998 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:117.62, Y:-3.00, Z:22.49
[[ 9.79028778e-01 -7.24285779e-02 -1.90412063e-01  1.17621350e+02]
 [ 7.53846533e-02  9.97119838e-01  8.31760891e-03 -3.00211427e+00]
 [ 1.89261213e-01 -2.24973259e-02  9.81669019e-01  2.24906357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.04486062399998 meters
Centerline goodness : 0.998144 with order 1
Centerline is valid?  [True, True]
Translation: X:117.68, Y:-3.01, Z:22.50
[[ 9.78882262e-01 -7.43826460e-02 -1.90412025e-01  1.17680226e+02]
 [ 7.73749923e-02  9.96967358e-01  8.31847359e-03 -3.00801702e+00]
 [ 1.89215824e-01 -2.28759353e-02  9.81669019e-01  2.25023650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.10486062399998 meters
Centerline goodness : 0.997721 with order 1
Centerline is valid?  [True, True]
Translation: X:117.74, Y:-3.01, Z:22.51
[[ 9.78719644e-01 -7.64926501e-02 -1.90412007e-01  1.17739677e+02]
 [ 7.95240564e-02  9.96798235e-01  8.31889568e-03 -3.01441138e+00]
 [ 1.89166018e-01 -2.32842018e-02  9.81669019e-01  2.25133988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.16486062399999 meters
Centerline goodness : 0.997835 with order 1
Centerline is valid?  [True, True]
Translation: X:117.80, Y:-3.02, Z:22.52
[[ 9.78709787e-01 -7.66188377e-02 -1.90411937e-01  1.17799602e+02]
 [ 7.96528799e-02  9.96787935e-01  8.32048736e-03 -3.01832840e+00]
 [ 1.89162816e-01 -2.33102016e-02  9.81669019e-01  2.25247449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.22486062399999 meters
Centerline goodness : 0.997528 with order 1
Centerline is valid?  [True, True]
Translation: X:117.86, Y:-3.02, Z:22.54
[[ 9.78699971e-01 -7.67448411e-02 -1.90411650e-01  1.17858163e+02]
 [ 7.97824691e-02  9.96777517e-01  8.32705388e-03 -3.02421697e+00]
 [ 1.89158993e-01 -2.33411990e-02  9.81669019e-01  2.25362355e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.28486062399999 meters
Centerline goodness : 0.997309 with order 1
Centerline is valid?  [True, True]
Translation: X:117.92, Y:-3.03, Z:22.55
[[ 9.78718541e-01 -7.65090394e-02 -1.90411091e-01  1.17918760e+02]
 [ 7.95447604e-02  9.96796408e-01  8.33983042e-03 -3.02990227e+00]
 [ 1.89163019e-01 -2.33085512e-02  9.81669019e-01  2.25483623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.34486062399998 meters
Centerline goodness : 0.997409 with order 1
Centerline is valid?  [True, True]
Translation: X:117.98, Y:-3.04, Z:22.56
[[ 9.78744598e-01 -7.61760326e-02 -1.90410671e-01  1.17978760e+02]
 [ 7.92074345e-02  9.96823189e-01  8.34938944e-03 -3.03588499e+00]
 [ 1.89169749e-01 -2.32538606e-02  9.81669020e-01  2.25614462e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.40486062399998 meters
Centerline goodness : 0.997324 with order 1
Centerline is valid?  [True, True]
Translation: X:118.04, Y:-3.04, Z:22.57
[[ 9.78697077e-01 -7.67854943e-02 -1.90410134e-01  1.18038749e+02]
 [ 7.98305005e-02  9.96773382e-01  8.36163866e-03 -3.04177592e+00]
 [ 1.89153700e-01 -2.33840476e-02  9.81669020e-01  2.25724486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.46486062399998 meters
Centerline goodness : 0.997800 with order 1
Centerline is valid?  [True, True]
Translation: X:118.10, Y:-3.05, Z:22.58
[[ 9.78572429e-01 -7.83587291e-02 -1.90409848e-01  1.18097884e+02]
 [ 8.14340333e-02  9.96643604e-01  8.36812637e-03 -3.04752331e+00]
 [ 1.89115042e-01 -2.36946597e-02  9.81669020e-01  2.25825109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.52486062399998 meters
Centerline goodness : 0.997846 with order 1
Centerline is valid?  [True, True]
Translation: X:118.16, Y:-3.05, Z:22.60
[[ 9.78554422e-01 -7.85832728e-02 -1.90409853e-01  1.18157432e+02]
 [ 8.16627026e-02  9.96624894e-01  8.36801645e-03 -3.05171843e+00]
 [ 1.89109614e-01 -2.37379427e-02  9.81669020e-01  2.25965961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.58486062399999 meters
Centerline goodness : 0.997679 with order 1
Centerline is valid?  [True, True]
Translation: X:118.22, Y:-3.06, Z:22.61
[[ 9.78610778e-01 -7.78790241e-02 -1.90409568e-01  1.18217957e+02]
 [ 8.09466930e-02  9.96683250e-01  8.37451244e-03 -3.05621419e+00]
 [ 1.89125828e-01 -2.36084129e-02  9.81669020e-01  2.26088948e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.64486062399999 meters
Centerline goodness : 0.997898 with order 1
Centerline is valid?  [True, True]
Translation: X:118.28, Y:-3.06, Z:22.62
[[ 9.78773321e-01 -7.58103065e-02 -1.90408992e-01  1.18277734e+02]
 [ 7.88422738e-02  9.96851817e-01  8.38758929e-03 -3.06031310e+00]
 [ 1.89173683e-01 -2.32218265e-02  9.81669020e-01  2.26203438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.70486062399999 meters
Centerline goodness : 0.997523 with order 1
Centerline is valid?  [True, True]
Translation: X:118.34, Y:-3.06, Z:22.63
[[ 9.78885515e-01 -7.43479313e-02 -1.90408861e-01  1.18337861e+02]
 [ 7.73534529e-02  9.96968426e-01  8.39054691e-03 -3.06483644e+00]
 [ 1.89207803e-01 -2.29421677e-02  9.81669020e-01  2.26325244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.76486062399998 meters
Centerline goodness : 0.997574 with order 1
Centerline is valid?  [True, True]
Translation: X:118.40, Y:-3.07, Z:22.64
[[ 9.78933965e-01 -7.37079862e-02 -1.90408574e-01  1.18397733e+02]
 [ 7.67029367e-02  9.97018630e-01  8.39707193e-03 -3.06913144e+00]
 [ 1.89221964e-01 -2.28250757e-02  9.81669020e-01  2.26444547e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.82486062399998 meters
Centerline goodness : 0.997444 with order 1
Centerline is valid?  [True, True]
Translation: X:118.46, Y:-3.07, Z:22.66
[[ 9.78934397e-01 -7.37026726e-02 -1.90408408e-01  1.18457316e+02]
 [ 7.66982431e-02  9.97018960e-01  8.40081810e-03 -3.07478808e+00]
 [ 1.89221630e-01 -2.28278402e-02  9.81669020e-01  2.26570512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.88486062399998 meters
Centerline goodness : 0.997235 with order 1
Centerline is valid?  [True, True]
Translation: X:118.52, Y:-3.08, Z:22.67
[[ 9.78939319e-01 -7.36376446e-02 -1.90408265e-01  1.18516671e+02]
 [ 7.66326341e-02  9.97023977e-01  8.40405416e-03 -3.07962874e+00]
 [ 1.89222751e-01 -2.28185460e-02  9.81669020e-01  2.26677095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 119.94486062399999 meters
Centerline goodness : 0.997023 with order 1
Centerline is valid?  [True, True]
Translation: X:118.58, Y:-3.09, Z:22.68
[[ 9.78887473e-01 -7.43240317e-02 -1.90408123e-01  1.18575642e+02]
 [ 7.73323186e-02  9.96969924e-01  8.40727641e-03 -3.08541806e+00]
 [ 1.89206309e-01 -2.29544792e-02  9.81669020e-01  2.26800599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.00486062399999 meters
Centerline goodness : 0.997100 with order 1
Centerline is valid?  [True, True]
Translation: X:118.64, Y:-3.09, Z:22.69
[[ 9.78735721e-01 -7.62964324e-02 -1.90408095e-01  1.18635841e+02]
 [ 7.93412712e-02  9.96812053e-01  8.40790313e-03 -3.09256181e+00]
 [ 1.89159592e-01 -2.33363355e-02  9.81669020e-01  2.26928188e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.06486062399999 meters
Centerline goodness : 0.996884 with order 1
Centerline is valid?  [True, True]
Translation: X:118.70, Y:-3.10, Z:22.70
[[ 9.78567681e-01 -7.84233028e-02 -1.90407665e-01  1.18695442e+02]
 [ 8.15092858e-02  9.96637035e-01  8.41764862e-03 -3.09879702e+00]
 [ 1.89107191e-01 -2.37572316e-02  9.81669020e-01  2.27049320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.12486062399998 meters
Centerline goodness : 0.996580 with order 1
Centerline is valid?  [True, True]
Translation: X:118.76, Y:-3.11, Z:22.71
[[ 9.78415792e-01 -8.02966980e-02 -1.90407403e-01  1.18755251e+02]
 [ 8.34184038e-02  9.96479008e-01  8.42356749e-03 -3.10596340e+00]
 [ 1.89060595e-01 -2.41252331e-02  9.81669020e-01  2.27149309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.18486062399998 meters
Centerline goodness : 0.996411 with order 1
Centerline is valid?  [True, True]
Translation: X:118.81, Y:-3.11, Z:22.73
[[ 9.78327698e-01 -8.13630756e-02 -1.90407368e-01  1.18814411e+02]
 [ 8.45046160e-02  9.96387475e-01  8.42434294e-03 -3.11128842e+00]
 [ 1.89034087e-01 -2.43320696e-02  9.81669020e-01  2.27264107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.24486062399998 meters
Centerline goodness : 0.996700 with order 1
Centerline is valid?  [True, True]
Translation: X:118.87, Y:-3.12, Z:22.74
[[ 9.78403285e-01 -8.04491016e-02 -1.90407339e-01  1.18873415e+02]
 [ 8.35738978e-02  9.96465967e-01  8.42501302e-03 -3.11588447e+00]
 [ 1.89056648e-01 -2.41561439e-02  9.81669020e-01  2.27379768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.30486062399999 meters
Centerline goodness : 0.997163 with order 1
Centerline is valid?  [True, True]
Translation: X:118.93, Y:-3.12, Z:22.75
[[ 9.78583028e-01 -7.82323628e-02 -1.90407339e-01  1.18933274e+02]
 [ 8.13162307e-02  9.96652743e-01  8.42501302e-03 -3.11999194e+00]
 [ 1.89110888e-01 -2.37277818e-02  9.81669020e-01  2.27501043e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.36486062399999 meters
Centerline goodness : 0.996534 with order 1
Centerline is valid?  [True, True]
Translation: X:118.99, Y:-3.12, Z:22.76
[[ 9.78912940e-01 -7.39902324e-02 -1.90407197e-01  1.18991792e+02]
 [ 7.69963656e-02  9.96995750e-01  8.42820724e-03 -3.12446711e+00]
 [ 1.89211562e-01 -2.29111433e-02  9.81669020e-01  2.27605536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.42486062399999 meters
Centerline goodness : 0.996931 with order 1
Centerline is valid?  [True, True]
Translation: X:119.05, Y:-3.13, Z:22.77
[[ 9.79165464e-01 -7.05694716e-02 -1.90407310e-01  1.19050578e+02]
 [ 7.35119175e-02  9.97258746e-01  8.42566396e-03 -3.12752503e+00]
 [ 1.89290760e-01 -2.22473256e-02  9.81669020e-01  2.27726966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.48486062399998 meters
Centerline goodness : 0.997021 with order 1
Centerline is valid?  [True, True]
Translation: X:119.11, Y:-3.13, Z:22.79
[[ 9.79553910e-01 -6.49551964e-02 -1.90407355e-01  1.19109795e+02]
 [ 6.77936791e-02  9.97663792e-01  8.42465271e-03 -3.13155401e+00]
 [ 1.89415299e-01 -2.11608166e-02  9.81669020e-01  2.27862215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.54486062399998 meters
Centerline goodness : 0.996803 with order 1
Centerline is valid?  [True, True]
Translation: X:119.17, Y:-3.13, Z:22.79
[[ 9.79811710e-01 -6.09434301e-02 -1.90407226e-01  1.19169142e+02]
 [ 6.37082879e-02  9.97932979e-01  8.42755729e-03 -3.13493813e+00]
 [ 1.89500046e-01 -2.03879377e-02  9.81669020e-01  2.27938989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.60486062399998 meters
Centerline goodness : 0.996324 with order 1
Centerline is valid?  [True, True]
Translation: X:119.23, Y:-3.14, Z:22.81
[[ 9.79941090e-01 -5.88258576e-02 -1.90407401e-01  1.19228596e+02]
 [ 6.15507871e-02  9.98068406e-01  8.42359856e-03 -3.13713443e+00]
 [ 1.89544086e-01 -1.99743558e-02  9.81669020e-01  2.28059735e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.66486062399999 meters
Centerline goodness : 0.996909 with order 1
Centerline is valid?  [True, True]
Translation: X:119.29, Y:-3.14, Z:22.82
[[ 9.80031183e-01 -5.73052695e-02 -1.90407424e-01  1.19285733e+02]
 [ 6.00019717e-02  9.98162720e-01  8.42309402e-03 -3.13855756e+00]
 [ 1.89574904e-01 -1.96797156e-02  9.81669020e-01  2.28164129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.72486062399999 meters
Centerline goodness : 0.996994 with order 1
Centerline is valid?  [True, True]
Translation: X:119.34, Y:-3.14, Z:22.83
[[ 9.80060234e-01 -5.67988638e-02 -1.90409630e-01  1.19342164e+02]
 [ 5.94765534e-02  9.98194587e-01  8.37292941e-03 -3.13828124e+00]
 [ 1.89590289e-01 -1.95308837e-02  9.81669021e-01  2.28273053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.78486062399999 meters
Centerline goodness : 0.997094 with order 1
Centerline is valid?  [True, True]
Translation: X:119.40, Y:-3.14, Z:22.84
[[ 9.80024783e-01 -5.74050399e-02 -1.90410308e-01  1.19399370e+02]
 [ 6.00909757e-02  9.98157917e-01  8.35748060e-03 -3.13885724e+00]
 [ 1.89579795e-01 -1.96324793e-02  9.81669021e-01  2.28395838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.84486062399998 meters
Centerline goodness : 0.996938 with order 1
Centerline is valid?  [True, True]
Translation: X:119.46, Y:-3.14, Z:22.85
[[ 9.79943004e-01 -5.87781645e-02 -1.90412281e-01  1.19457531e+02]
 [ 6.14808201e-02  9.98073652e-01  8.31229027e-03 -3.13758950e+00]
 [ 1.89556899e-01 -1.98522739e-02  9.81669022e-01  2.28513012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.90486062399998 meters
Centerline goodness : 0.997195 with order 1
Centerline is valid?  [True, True]
Translation: X:119.52, Y:-3.14, Z:22.86
[[ 9.79841860e-01 -6.04374508e-02 -1.90413349e-01  1.19517088e+02]
 [ 6.31660881e-02  9.97968616e-01  8.28774975e-03 -3.13826329e+00]
 [ 1.89525656e-01 -2.01483505e-02  9.81669023e-01  2.28624400e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 120.96486062399998 meters
Centerline goodness : 0.997099 with order 1
Centerline is valid?  [True, True]
Translation: X:119.58, Y:-3.14, Z:22.87
[[ 9.79695399e-01 -6.27669103e-02 -1.90413341e-01  1.19576827e+02]
 [ 6.55386722e-02  9.97815611e-01  8.28793155e-03 -3.13736884e+00]
 [ 1.89477196e-01 -2.05990859e-02  9.81669023e-01  2.28739413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.02486062399998 meters
Centerline goodness : 0.997024 with order 1
Centerline is valid?  [True, True]
Translation: X:119.64, Y:-3.14, Z:22.88
[[ 9.79550067e-01 -6.49954187e-02 -1.90413395e-01  1.19635842e+02]
 [ 6.78081547e-02  9.97663964e-01  8.28668276e-03 -3.13705951e+00]
 [ 1.89429986e-01 -2.10288016e-02  9.81669023e-01  2.28847407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.08486062399999 meters
Centerline goodness : 0.997372 with order 1
Centerline is valid?  [True, True]
Translation: X:119.70, Y:-3.14, Z:22.90
[[ 9.79517164e-01 -6.54890387e-02 -1.90413529e-01  1.19695763e+02]
 [ 6.83103142e-02  9.97629732e-01  8.28361873e-03 -3.13862592e+00]
 [ 1.89419711e-01 -2.11211547e-02  9.81669023e-01  2.28978811e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.14486062399999 meters
Centerline goodness : 0.996839 with order 1
Centerline is valid?  [True, True]
Translation: X:119.76, Y:-3.14, Z:22.91
[[ 9.79486561e-01 -6.59459893e-02 -1.90413243e-01  1.19755431e+02]
 [ 6.87769737e-02  9.97597615e-01  8.29017878e-03 -3.13898092e+00]
 [ 1.89409093e-01 -2.12161653e-02  9.81669023e-01  2.29081655e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.20486062399998 meters
Centerline goodness : 0.997254 with order 1
Centerline is valid?  [True, True]
Translation: X:119.81, Y:-3.14, Z:22.92
[[ 9.79504154e-01 -6.56845651e-02 -1.90413102e-01  1.19814683e+02]
 [ 6.85113359e-02  9.97615866e-01  8.29340953e-03 -3.13845929e+00]
 [ 1.89414383e-01 -2.11688851e-02  9.81669023e-01  2.29209774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.26486062399998 meters
Centerline goodness : 0.997425 with order 1
Centerline is valid?  [True, True]
Translation: X:119.88, Y:-3.14, Z:22.93
[[ 9.79539806e-01 -6.51507354e-02 -1.90413102e-01  1.19875020e+02]
 [ 6.79676351e-02  9.97653056e-01  8.29340953e-03 -3.13821730e+00]
 [ 1.89425892e-01 -2.10656530e-02  9.81669023e-01  2.29322274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.32486062399998 meters
Centerline goodness : 0.997353 with order 1
Centerline is valid?  [True, True]
Translation: X:119.93, Y:-3.14, Z:22.94
[[ 9.79511294e-01 -6.55788346e-02 -1.90412820e-01  1.19934475e+02]
 [ 6.84048944e-02  9.97623116e-01  8.29988906e-03 -3.13880340e+00]
 [ 1.89415934e-01 -2.11550039e-02  9.81669023e-01  2.29426507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.38486062399998 meters
Centerline goodness : 0.997460 with order 1
Centerline is valid?  [True, True]
Translation: X:119.99, Y:-3.14, Z:22.95
[[ 9.79354594e-01 -6.78788440e-02 -1.90412820e-01  1.19993465e+02]
 [ 7.07474281e-02  9.97459730e-01  8.29988906e-03 -3.13852840e+00]
 [ 1.89365733e-01 -2.15997518e-02  9.81669023e-01  2.29543965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.44486062399999 meters
Centerline goodness : 0.997498 with order 1
Centerline is valid?  [True, True]
Translation: X:120.05, Y:-3.14, Z:22.97
[[ 9.79242341e-01 -6.94791437e-02 -1.90412937e-01  1.20053845e+02]
 [ 7.23767967e-02  9.97342848e-01  8.29721339e-03 -3.13853489e+00]
 [ 1.89330497e-01 -2.19064611e-02  9.81669023e-01  2.29671790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.50486062399999 meters
Centerline goodness : 0.997319 with order 1
Centerline is valid?  [True, True]
Translation: X:120.11, Y:-3.14, Z:22.98
[[ 9.79219641e-01 -6.97995182e-02 -1.90412505e-01  1.20114532e+02]
 [ 7.27049912e-02  9.97318894e-01  8.30710716e-03 -3.13904367e+00]
 [ 1.89322157e-01 -2.19784220e-02  9.81669023e-01  2.29801805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.56486062399999 meters
Centerline goodness : 0.997331 with order 1
Centerline is valid?  [True, True]
Translation: X:120.17, Y:-3.14, Z:22.99
[[ 9.79246363e-01 -6.94251820e-02 -1.90411934e-01  1.20173921e+02]
 [ 7.23262440e-02  9.97346324e-01  8.32017904e-03 -3.13759078e+00]
 [ 1.89329012e-01 -2.19192851e-02  9.81669023e-01  2.29922435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.62486062399998 meters
Centerline goodness : 0.997705 with order 1
Centerline is valid?  [True, True]
Translation: X:120.23, Y:-3.14, Z:23.00
[[ 9.79337723e-01 -6.81246991e-02 -1.90411791e-01  1.20234457e+02]
 [ 7.10023476e-02  9.97441420e-01  8.32343820e-03 -3.13833174e+00]
 [ 1.89357576e-01 -2.16711412e-02  9.81669023e-01  2.30038510e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.68486062399998 meters
Centerline goodness : 0.998128 with order 1
Centerline is valid?  [True, True]
Translation: X:120.29, Y:-3.14, Z:23.01
[[ 9.79608156e-01 -6.41199920e-02 -1.90411364e-01  1.20294538e+02]
 [ 6.69254729e-02  9.97723177e-01  8.33320504e-03 -3.13745856e+00]
 [ 1.89443506e-01 -2.09066462e-02  9.81669023e-01  2.30147609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.74486062399998 meters
Centerline goodness : 0.997668 with order 1
Centerline is valid?  [True, True]
Translation: X:120.35, Y:-3.14, Z:23.03
[[ 9.79773385e-01 -6.15440573e-02 -1.90411246e-01  1.20354454e+02]
 [ 6.43024133e-02  9.97895642e-01  8.33588634e-03 -3.13750362e+00]
 [ 1.89497529e-01 -2.04111822e-02  9.81669023e-01  2.30271334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.80486062399999 meters
Centerline goodness : 0.998023 with order 1
Centerline is valid?  [True, True]
Translation: X:120.41, Y:-3.14, Z:23.04
[[ 9.79964565e-01 -5.84214162e-02 -1.90411106e-01  1.20413620e+02]
 [ 6.11226224e-02  9.98095429e-01  8.33909152e-03 -3.13770535e+00]
 [ 1.89561273e-01 -1.98104403e-02  9.81669023e-01  2.30384839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.86486062399999 meters
Centerline goodness : 0.997385 with order 1
Centerline is valid?  [True, True]
Translation: X:120.47, Y:-3.14, Z:23.05
[[ 9.79988389e-01 -5.80202820e-02 -1.90411147e-01  1.20473023e+02]
 [ 6.07138868e-02  9.98120383e-01  8.33815678e-03 -3.13963937e+00]
 [ 1.89569465e-01 -1.97318976e-02  9.81669023e-01  2.30495290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.92486062399999 meters
Centerline goodness : 0.997649 with order 1
Centerline is valid?  [True, True]
Translation: X:120.53, Y:-3.14, Z:23.06
[[ 9.79883775e-01 -5.97610518e-02 -1.90411147e-01  1.20532880e+02]
 [ 6.24868622e-02  9.98010955e-01  8.33815678e-03 -3.14045500e+00]
 [ 1.89534114e-01 -2.00686196e-02  9.81669023e-01  2.30607976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 121.98486062399998 meters
Centerline goodness : 0.997528 with order 1
Centerline is valid?  [True, True]
Translation: X:120.59, Y:-3.14, Z:23.07
[[ 9.79694790e-01 -6.27834897e-02 -1.90411006e-01  1.20592405e+02]
 [ 6.55658254e-02  9.97813381e-01  8.34138466e-03 -3.14137801e+00]
 [ 1.89470948e-01 -2.06564658e-02  9.81669023e-01  2.30719325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.04486062399998 meters
Centerline goodness : 0.998168 with order 1
Centerline is valid?  [True, True]
Translation: X:120.65, Y:-3.14, Z:23.08
[[ 9.79551523e-01 -6.49805242e-02 -1.90410992e-01  1.20651424e+02]
 [ 6.78035461e-02  9.97663819e-01  8.34168697e-03 -3.14324877e+00]
 [ 1.89424111e-01 -2.10816527e-02  9.81669023e-01  2.30837020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.10486062399998 meters
Centerline goodness : 0.997838 with order 1
Centerline is valid?  [True, True]
Translation: X:120.71, Y:-3.14, Z:23.10
[[ 9.79419689e-01 -6.69382958e-02 -1.90410968e-01  1.20710591e+02]
 [ 6.97976220e-02  9.97526290e-01  8.34224742e-03 -3.14286193e+00]
 [ 1.89381530e-01 -2.14607941e-02  9.81669023e-01  2.30959112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.16486062399999 meters
Centerline goodness : 0.997987 with order 1
Centerline is valid?  [True, True]
Translation: X:120.77, Y:-3.14, Z:23.11
[[ 9.79386642e-01 -6.74204879e-02 -1.90410828e-01  1.20771194e+02]
 [ 7.02893408e-02  9.97491735e-01  8.34543902e-03 -3.14322244e+00]
 [ 1.89370574e-01 -2.15572631e-02  9.81669023e-01  2.31072794e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.22486062399999 meters
Centerline goodness : 0.998469 with order 1
Centerline is valid?  [True, True]
Translation: X:120.83, Y:-3.14, Z:23.12
[[ 9.79373845e-01 -6.76069326e-02 -1.90410541e-01  1.20831766e+02]
 [ 7.04804884e-02  9.97478193e-01  8.35198530e-03 -3.14465020e+00]
 [ 1.89365710e-01 -2.15999439e-02  9.81669023e-01  2.31195243e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.28486062399999 meters
Centerline goodness : 0.997857 with order 1
Centerline is valid?  [True, True]
Translation: X:120.89, Y:-3.15, Z:23.13
[[ 9.79333120e-01 -6.81963538e-02 -1.90409813e-01  1.20891881e+02]
 [ 7.10839852e-02  9.97435228e-01  8.36855681e-03 -3.14525564e+00]
 [ 1.89350750e-01 -2.17306932e-02  9.81669023e-01  2.31322430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.34486062399998 meters
Centerline goodness : 0.997667 with order 1
Centerline is valid?  [True, True]
Translation: X:120.95, Y:-3.15, Z:23.14
[[ 9.79298410e-01 -6.86937972e-02 -1.90409525e-01  1.20952751e+02]
 [ 7.15918797e-02  9.97398847e-01  8.37510503e-03 -3.14683057e+00]
 [ 1.89338922e-01 -2.18335028e-02  9.81669023e-01  2.31438814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.40486062399998 meters
Centerline goodness : 0.998110 with order 1
Centerline is valid?  [True, True]
Translation: X:121.01, Y:-3.15, Z:23.15
[[ 9.79273485e-01 -6.90497743e-02 -1.90408953e-01  1.21011986e+02]
 [ 7.19569259e-02  9.97372468e-01  8.38808162e-03 -3.14912504e+00]
 [ 1.89329452e-01 -2.19154688e-02  9.81669023e-01  2.31542612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.46486062399998 meters
Centerline goodness : 0.997879 with order 1
Centerline is valid?  [True, True]
Translation: X:121.07, Y:-3.15, Z:23.17
[[ 9.79250659e-01 -6.93731359e-02 -1.90408812e-01  1.21072482e+02]
 [ 7.22868772e-02  9.97348582e-01  8.39127850e-03 -3.15154160e+00]
 [ 1.89321829e-01 -2.19812234e-02  9.81669023e-01  2.31655661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.52486062399998 meters
Centerline goodness : 0.997966 with order 1
Centerline is valid?  [True, True]
Translation: X:121.13, Y:-3.15, Z:23.18
[[ 9.79243040e-01 -6.94813644e-02 -1.90408533e-01  1.21132532e+02]
 [ 7.23983180e-02  9.97340445e-01  8.39759663e-03 -3.15381914e+00]
 [ 1.89318655e-01 -2.20085456e-02  9.81669023e-01  2.31765141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.58486062399999 meters
Centerline goodness : 0.998030 with order 1
Centerline is valid?  [True, True]
Translation: X:121.19, Y:-3.15, Z:23.19
[[ 9.79234537e-01 -6.96014703e-02 -1.90408394e-01  1.21192835e+02]
 [ 7.25212492e-02  9.97331487e-01  8.40075346e-03 -3.15479721e+00]
 [ 1.89315582e-01 -2.20349625e-02  9.81669023e-01  2.31879242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.64486062399999 meters
Centerline goodness : 0.998023 with order 1
Centerline is valid?  [True, True]
Translation: X:121.25, Y:-3.15, Z:23.20
[[ 9.79298156e-01 -6.87013107e-02 -1.90408118e-01  1.21251950e+02]
 [ 7.16056541e-02  9.97397590e-01  8.40701168e-03 -3.15494442e+00]
 [ 1.89335025e-01 -2.18672689e-02  9.81669023e-01  2.32001997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.70486062399998 meters
Centerline goodness : 0.998284 with order 1
Centerline is valid?  [True, True]
Translation: X:121.31, Y:-3.16, Z:23.21
[[ 9.79360313e-01 -6.78094993e-02 -1.90408110e-01  1.21311424e+02]
 [ 7.06973943e-02  9.97462379e-01  8.40719303e-03 -3.15623439e+00]
 [ 1.89354839e-01 -2.16950284e-02  9.81669023e-01  2.32114872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.76486062399998 meters
Centerline goodness : 0.998128 with order 1
Centerline is valid?  [True, True]
Translation: X:121.37, Y:-3.16, Z:23.22
[[ 9.79382801e-01 -6.74843233e-02 -1.90407970e-01  1.21371462e+02]
 [ 7.03668143e-02  9.97485728e-01  8.41035378e-03 -3.15634423e+00]
 [ 1.89361666e-01 -2.16353581e-02  9.81669023e-01  2.32237427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.82486062399998 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:121.43, Y:-3.16, Z:23.23
[[ 9.79324106e-01 -6.83312201e-02 -1.90407827e-01  1.21431095e+02]
 [ 7.12299876e-02  9.97424433e-01  8.41360098e-03 -3.15804680e+00]
 [ 1.89342507e-01 -2.18023894e-02  9.81669023e-01  2.32339703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.88486062399998 meters
Centerline goodness : 0.998149 with order 1
Centerline is valid?  [True, True]
Translation: X:121.49, Y:-3.16, Z:23.25
[[ 9.79207658e-01 -6.99805370e-02 -1.90407685e-01  1.21490031e+02]
 [ 7.29103991e-02  9.97302979e-01  8.41679908e-03 -3.16028175e+00]
 [ 1.89305140e-01 -2.21244944e-02  9.81669023e-01  2.32459692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 122.94486062399999 meters
Centerline goodness : 0.997440 with order 1
Centerline is valid?  [True, True]
Translation: X:121.55, Y:-3.16, Z:23.26
[[ 9.79165880e-01 -7.05627952e-02 -1.90407646e-01  1.21551363e+02]
 [ 7.35035870e-02  9.97259427e-01  8.41768587e-03 -3.16316018e+00]
 [ 1.89291845e-01 -2.22379558e-02  9.81669023e-01  2.32588458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.00486062399999 meters
Centerline goodness : 0.997418 with order 1
Centerline is valid?  [True, True]
Translation: X:121.61, Y:-3.17, Z:23.27
[[ 9.79136445e-01 -7.09720134e-02 -1.90406918e-01  1.21610576e+02]
 [ 7.39235180e-02  9.97228248e-01  8.43411599e-03 -3.16579384e+00]
 [ 1.89280571e-01 -2.23336996e-02  9.81669023e-01  2.32710587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.06486062399999 meters
Centerline goodness : 0.997657 with order 1
Centerline is valid?  [True, True]
Translation: X:121.67, Y:-3.17, Z:23.28
[[ 9.79156468e-01 -7.06960103e-02 -1.90406633e-01  1.21669917e+02]
 [ 7.36436509e-02  9.97248901e-01  8.44055959e-03 -3.16949183e+00]
 [ 1.89286091e-01 -2.22868681e-02  9.81669023e-01  2.32812746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.12486062399998 meters
Centerline goodness : 0.997832 with order 1
Centerline is valid?  [True, True]
Translation: X:121.73, Y:-3.17, Z:23.29
[[ 9.79209456e-01 -6.99586241e-02 -1.90406492e-01  1.21729775e+02]
 [ 7.28932495e-02  9.97304005e-01  8.44374164e-03 -3.17284948e+00]
 [ 1.89302444e-01 -2.21475396e-02  9.81669023e-01  2.32916242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.18486062399998 meters
Centerline goodness : 0.998108 with order 1
Centerline is valid?  [True, True]
Translation: X:121.79, Y:-3.18, Z:23.30
[[ 9.79248579e-01 -6.94088742e-02 -1.90406485e-01  1.21788661e+02]
 [ 7.23333694e-02  9.97344767e-01  8.44389138e-03 -3.17563547e+00]
 [ 1.89314830e-01 -2.20414112e-02  9.81669023e-01  2.33027107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.24486062399998 meters
Centerline goodness : 0.997493 with order 1
Centerline is valid?  [True, True]
Translation: X:121.85, Y:-3.18, Z:23.31
[[ 9.79215538e-01 -6.98734629e-02 -1.90406485e-01  1.21848243e+02]
 [ 7.28065433e-02  9.97310337e-01  8.44389138e-03 -3.17882748e+00]
 [ 1.89304352e-01 -2.21312276e-02  9.81669023e-01  2.33142867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.30486062399999 meters
Centerline goodness : 0.997801 with order 1
Centerline is valid?  [True, True]
Translation: X:121.91, Y:-3.18, Z:23.33
[[ 9.79161568e-01 -7.06257784e-02 -1.90406467e-01  1.21908642e+02]
 [ 7.35728374e-02  9.97254096e-01  8.44429366e-03 -3.18284727e+00]
 [ 1.89287244e-01 -2.22770719e-02  9.81669023e-01  2.33270631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.36486062399999 meters
Centerline goodness : 0.997509 with order 1
Centerline is valid?  [True, True]
Translation: X:121.97, Y:-3.19, Z:23.34
[[ 9.79000245e-01 -7.28294143e-02 -1.90405875e-01  1.21967350e+02]
 [ 7.58197412e-02  9.97085671e-01  8.45761572e-03 -3.18696753e+00]
 [ 1.89235007e-01 -2.27165321e-02  9.81669023e-01  2.33370408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.42486062399999 meters
Centerline goodness : 0.997980 with order 1
Centerline is valid?  [True, True]
Translation: X:122.03, Y:-3.19, Z:23.35
[[ 9.78796850e-01 -7.55153777e-02 -1.90405238e-01  1.22026140e+02]
 [ 7.85580630e-02  9.96873541e-01  8.47194457e-03 -3.19110713e+00]
 [ 1.89170182e-01 -2.32501793e-02  9.81669023e-01  2.33492417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.48486062399998 meters
Centerline goodness : 0.998059 with order 1
Centerline is valid?  [True, True]
Translation: X:122.08, Y:-3.20, Z:23.36
[[ 9.78573142e-01 -7.83610872e-02 -1.90405213e-01  1.22084797e+02]
 [ 8.14564266e-02  9.96640892e-01  8.47249673e-03 -3.19611061e+00]
 [ 1.89101708e-01 -2.38006860e-02  9.81669023e-01  2.33560810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.54486062399998 meters
Centerline goodness : 0.997901 with order 1
Centerline is valid?  [True, True]
Translation: X:122.14, Y:-3.20, Z:23.37
[[ 9.78462517e-01 -7.97299125e-02 -1.90405471e-01  1.22144918e+02]
 [ 8.28494152e-02  9.96526111e-01  8.46670922e-03 -3.19968731e+00]
 [ 1.89068973e-01 -2.40593395e-02  9.81669023e-01  2.33727681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.60486062399998 meters
Centerline goodness : 0.998021 with order 1
Centerline is valid?  [True, True]
Translation: X:122.21, Y:-3.20, Z:23.39
[[ 9.78575046e-01 -7.83381226e-02 -1.90404879e-01  1.22205845e+02]
 [ 8.14344722e-02  9.96642622e-01  8.47998431e-03 -3.20388655e+00]
 [ 1.89101312e-01 -2.38038219e-02  9.81669024e-01  2.33855124e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.66486062399999 meters
Centerline goodness : 0.997443 with order 1
Centerline is valid?  [True, True]
Translation: X:122.26, Y:-3.21, Z:23.40
[[ 9.78781622e-01 -7.57149057e-02 -1.90404279e-01  1.22264984e+02]
 [ 7.87653952e-02  9.96856998e-01  8.49344207e-03 -3.20774441e+00]
 [ 1.89162758e-01 -2.33104933e-02  9.81669024e-01  2.33952000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.72486062399999 meters
Centerline goodness : 0.997670 with order 1
Centerline is valid?  [True, True]
Translation: X:122.32, Y:-3.21, Z:23.41
[[ 9.79144391e-01 -7.08693672e-02 -1.90404292e-01  1.22323424e+02]
 [ 7.38302963e-02  9.97234653e-01  8.49314736e-03 -3.21008116e+00]
 [ 1.89275854e-01 -2.23736229e-02  9.81669024e-01  2.34059326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.78486062399999 meters
Centerline goodness : 0.997882 with order 1
Centerline is valid?  [True, True]
Translation: X:122.38, Y:-3.21, Z:23.42
[[ 9.79214939e-01 -6.98877947e-02 -1.90404306e-01  1.22382116e+02]
 [ 7.28305302e-02  9.97308170e-01  8.49284651e-03 -3.21305888e+00]
 [ 1.89298223e-01 -2.21835687e-02  9.81669024e-01  2.34196904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.84486062399998 meters
Centerline goodness : 0.997543 with order 1
Centerline is valid?  [True, True]
Translation: X:122.44, Y:-3.22, Z:23.43
[[ 9.79175832e-01 -7.04335927e-02 -1.90404306e-01  1.22441341e+02]
 [ 7.33864128e-02  9.97267419e-01  8.49284651e-03 -3.21905208e+00]
 [ 1.89285829e-01 -2.22890790e-02  9.81669024e-01  2.34289518e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.90486062399998 meters
Centerline goodness : 0.997526 with order 1
Centerline is valid?  [True, True]
Translation: X:122.50, Y:-3.22, Z:23.44
[[ 9.79037697e-01 -7.23291787e-02 -1.90403986e-01  1.22501124e+02]
 [ 7.53183902e-02  9.97123307e-01  8.49999708e-03 -3.22370475e+00]
 [ 1.89241455e-01 -2.26627393e-02  9.81669024e-01  2.34408109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 123.96486062399998 meters
Centerline goodness : 0.997626 with order 1
Centerline is valid?  [True, True]
Translation: X:122.56, Y:-3.23, Z:23.45
[[ 9.78805078e-01 -7.54125349e-02 -1.90403699e-01  1.22559856e+02]
 [ 7.84599312e-02  9.96880976e-01  8.50644026e-03 -3.22906328e+00]
 [ 1.89168333e-01 -2.32652080e-02  9.81669024e-01  2.34526680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.02486062399998 meters
Centerline goodness : 0.997797 with order 1
Centerline is valid?  [True, True]
Translation: X:122.62, Y:-3.23, Z:23.46
[[ 9.78643825e-01 -7.74771782e-02 -1.90403650e-01  1.22619631e+02]
 [ 8.05629086e-02  9.96713218e-01  8.50753370e-03 -3.23449278e+00]
 [ 1.89118695e-01 -2.36653172e-02  9.81669024e-01  2.34640897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.08486062399999 meters
Centerline goodness : 0.997904 with order 1
Centerline is valid?  [True, True]
Translation: X:122.68, Y:-3.24, Z:23.48
[[ 9.78422041e-01 -8.02297682e-02 -1.90403504e-01  1.22679009e+02]
 [ 8.33669403e-02  9.96482574e-01  8.51079882e-03 -3.24019109e+00]
 [ 1.89050954e-01 -2.42005107e-02  9.81669024e-01  2.34765633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.14486062399999 meters
Centerline goodness : 0.998140 with order 1
Centerline is valid?  [True, True]
Translation: X:122.74, Y:-3.25, Z:23.49
[[ 9.78304102e-01 -8.16560410e-02 -1.90403190e-01  1.22737010e+02]
 [ 8.48208819e-02  9.96359807e-01  8.51781663e-03 -3.24593418e+00]
 [ 1.89014554e-01 -2.44831814e-02  9.81669024e-01  2.34876859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.20486062399998 meters
Centerline goodness : 0.997762 with order 1
Centerline is valid?  [True, True]
Translation: X:122.80, Y:-3.25, Z:23.50
[[ 9.78207538e-01 -8.28051804e-02 -1.90403032e-01  1.22796822e+02]
 [ 8.59919057e-02  9.96259393e-01  8.52135352e-03 -3.25173941e+00]
 [ 1.88985197e-01 -2.47087718e-02  9.81669024e-01  2.35008585e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.26486062399998 meters
Centerline goodness : 0.997525 with order 1
Centerline is valid?  [True, True]
Translation: X:122.86, Y:-3.26, Z:23.51
[[ 9.78139533e-01 -8.36053412e-02 -1.90402732e-01  1.22857166e+02]
 [ 8.68081114e-02  9.96188549e-01  8.52803947e-03 -3.25701960e+00]
 [ 1.88964032e-01 -2.48701141e-02  9.81669024e-01  2.35126155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.32486062399998 meters
Centerline goodness : 0.997374 with order 1
Centerline is valid?  [True, True]
Translation: X:122.92, Y:-3.26, Z:23.52
[[ 9.78141768e-01 -8.35798747e-02 -1.90402434e-01  1.22918434e+02]
 [ 8.67834482e-02  9.96190640e-01  8.53469371e-03 -3.26329116e+00]
 [ 1.88963794e-01 -2.48719201e-02  9.81669024e-01  2.35248616e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.38486062399998 meters
Centerline goodness : 0.997358 with order 1
Centerline is valid?  [True, True]
Translation: X:122.98, Y:-3.27, Z:23.54
[[ 9.78240782e-01 -8.24149265e-02 -1.90401557e-01  1.22977903e+02]
 [ 8.56007376e-02  9.96292798e-01  8.55420892e-03 -3.26900339e+00]
 [ 1.88990706e-01 -2.46665897e-02  9.81669024e-01  2.35370030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.44486062399999 meters
Centerline goodness : 0.997321 with order 1
Centerline is valid?  [True, True]
Translation: X:123.04, Y:-3.27, Z:23.55
[[ 9.78389525e-01 -8.06302709e-02 -1.90401409e-01  1.23037170e+02]
 [ 8.37837748e-02  9.96447213e-01  8.55749401e-03 -3.27409340e+00]
 [ 1.89034961e-01 -2.43251113e-02  9.81669024e-01  2.35484654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.50486062399999 meters
Centerline goodness : 0.997143 with order 1
Centerline is valid?  [True, True]
Translation: X:123.10, Y:-3.28, Z:23.56
[[ 9.78598762e-01 -7.80497704e-02 -1.90401409e-01  1.23096236e+02]
 [ 8.11556421e-02  9.96664703e-01  8.55749726e-03 -3.27942416e+00]
 [ 1.89098453e-01 -2.38265049e-02  9.81669024e-01  2.35600735e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.56486062399999 meters
Centerline goodness : 0.997288 with order 1
Centerline is valid?  [True, True]
Translation: X:123.16, Y:-3.29, Z:23.57
[[ 9.78704272e-01 -7.67155028e-02 -1.90401365e-01  1.23155874e+02]
 [ 7.97969294e-02  9.96774399e-01  8.55848104e-03 -3.28574368e+00]
 [ 1.89130638e-01 -2.35696662e-02  9.81669024e-01  2.35731935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.62486062399998 meters
Centerline goodness : 0.996943 with order 1
Centerline is valid?  [True, True]
Translation: X:123.22, Y:-3.29, Z:23.58
[[ 9.78753590e-01 -7.60844420e-02 -1.90401069e-01  1.23216176e+02]
 [ 7.91554781e-02  9.96825486e-01  8.56506494e-03 -3.29102491e+00]
 [ 1.89144970e-01 -2.34543757e-02  9.81669024e-01  2.35815532e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.68486062399998 meters
Centerline goodness : 0.996671 with order 1
Centerline is valid?  [True, True]
Translation: X:123.28, Y:-3.30, Z:23.59
[[ 9.78785826e-01 -7.56707984e-02 -1.90400202e-01  1.23275358e+02]
 [ 7.87378802e-02  9.96858393e-01  8.58429020e-03 -3.29778043e+00]
 [ 1.89152460e-01 -2.33938899e-02  9.81669024e-01  2.35946646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.74486062399998 meters
Centerline goodness : 0.996979 with order 1
Centerline is valid?  [True, True]
Translation: X:123.34, Y:-3.30, Z:23.61
[[ 9.78837186e-01 -7.50039928e-02 -1.90400010e-01  1.23336149e+02]
 [ 7.80595772e-02  9.96911701e-01  8.58854379e-03 -3.30312969e+00]
 [ 1.89167823e-01 -2.32693303e-02  9.81669024e-01  2.36066783e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.80486062399999 meters
Centerline goodness : 0.996148 with order 1
Centerline is valid?  [True, True]
Translation: X:123.40, Y:-3.31, Z:23.62
[[ 9.78830469e-01 -7.50930795e-02 -1.90399428e-01  1.23397071e+02]
 [ 7.81527775e-02  9.96904288e-01  8.60142730e-03 -3.30802882e+00]
 [ 1.89164099e-01 -2.32995833e-02  9.81669024e-01  2.36193227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.86486062399999 meters
Centerline goodness : 0.996592 with order 1
Centerline is valid?  [True, True]
Translation: X:123.46, Y:-3.31, Z:23.63
[[ 9.78838772e-01 -7.49862788e-02 -1.90398834e-01  1.23456932e+02]
 [ 7.80465199e-02  9.96912499e-01  8.61455416e-03 -3.31410857e+00]
 [ 1.89165004e-01 -2.32922260e-02  9.81669024e-01  2.36307745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.92486062399999 meters
Centerline goodness : 0.996230 with order 1
Centerline is valid?  [True, True]
Translation: X:123.52, Y:-3.32, Z:23.64
[[ 9.78802706e-01 -7.54559713e-02 -1.90398687e-01  1.23516463e+02]
 [ 7.85255078e-02  9.96874856e-01  8.61780586e-03 -3.31794714e+00]
 [ 1.89153399e-01 -2.33862853e-02  9.81669024e-01  2.36419198e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 124.98486062399998 meters
Centerline goodness : 0.996758 with order 1
Centerline is valid?  [True, True]
Translation: X:123.58, Y:-3.32, Z:23.65
[[ 9.78594829e-01 -7.81060550e-02 -1.90398541e-01  1.23575734e+02]
 [ 8.12251325e-02  9.96658495e-01  8.62102943e-03 -3.32377152e+00]
 [ 1.89088969e-01 -2.39016416e-02  9.81669024e-01  2.36548467e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.04486062399998 meters
Centerline goodness : 0.996783 with order 1
Centerline is valid?  [True, True]
Translation: X:123.64, Y:-3.33, Z:23.67
[[ 9.78529724e-01 -7.89175348e-02 -1.90398535e-01  1.23636823e+02]
 [ 8.20516171e-02  9.96590792e-01  8.62116776e-03 -3.32856400e+00]
 [ 1.89069066e-01 -2.40585766e-02  9.81669024e-01  2.36674036e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.10486062399998 meters
Centerline goodness : 0.996135 with order 1
Centerline is valid?  [True, True]
Translation: X:123.70, Y:-3.33, Z:23.68
[[ 9.78508827e-01 -7.91776644e-02 -1.90397931e-01  1.23697001e+02]
 [ 8.23190995e-02  9.96568618e-01  8.63449463e-03 -3.33427480e+00]
 [ 1.89060944e-01 -2.41223154e-02  9.81669024e-01  2.36780065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.16486062399999 meters
Centerline goodness : 0.996495 with order 1
Centerline is valid?  [True, True]
Translation: X:123.76, Y:-3.34, Z:23.69
[[ 9.78616829e-01 -7.78337806e-02 -1.90396965e-01  1.23756390e+02]
 [ 8.09544800e-02  9.96680215e-01  8.65574394e-03 -3.33786144e+00]
 [ 1.89091178e-01 -2.38841440e-02  9.81669025e-01  2.36899344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.22486062399999 meters
Centerline goodness : 0.995908 with order 1
Centerline is valid?  [True, True]
Translation: X:123.82, Y:-3.34, Z:23.70
[[ 9.78750655e-01 -7.61328291e-02 -1.90396816e-01  1.23815672e+02]
 [ 7.92227549e-02  9.96819330e-01  8.65900784e-03 -3.34305193e+00]
 [ 1.89131992e-01 -2.35587699e-02  9.81669025e-01  2.37015063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.28486062399999 meters
Centerline goodness : 0.996072 with order 1
Centerline is valid?  [True, True]
Translation: X:123.88, Y:-3.35, Z:23.71
[[ 9.78813021e-01 -7.53268922e-02 -1.90396769e-01  1.23875022e+02]
 [ 7.84021397e-02  9.96884200e-01  8.66005516e-03 -3.34737191e+00]
 [ 1.89151195e-01 -2.34040888e-02  9.81669025e-01  2.37142933e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.34486062399998 meters
Centerline goodness : 0.996118 with order 1
Centerline is valid?  [True, True]
Translation: X:123.94, Y:-3.35, Z:23.73
[[ 9.78776744e-01 -7.57971745e-02 -1.90396620e-01  1.23935383e+02]
 [ 7.88817291e-02  9.96846337e-01  8.66331647e-03 -3.35103813e+00]
 [ 1.89139519e-01 -2.34982673e-02  9.81669025e-01  2.37260458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.40486062399998 meters
Centerline goodness : 0.996127 with order 1
Centerline is valid?  [True, True]
Translation: X:123.99, Y:-3.36, Z:23.74
[[ 9.78630690e-01 -7.76608793e-02 -1.90396323e-01  1.23994726e+02]
 [ 8.07810881e-02  9.96694160e-01  8.66984739e-03 -3.35692342e+00]
 [ 1.89093595e-01 -2.38650009e-02  9.81669025e-01  2.37358925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.46486062399998 meters
Centerline goodness : 0.995735 with order 1
Centerline is valid?  [True, True]
Translation: X:124.05, Y:-3.36, Z:23.75
[[ 9.78554368e-01 -7.86167943e-02 -1.90396293e-01  1.24054778e+02]
 [ 8.17547708e-02  9.96614760e-01  8.67049719e-03 -3.36157155e+00]
 [ 1.89070109e-01 -2.40503582e-02  9.81669025e-01  2.37469132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.52486062399998 meters
Centerline goodness : 0.995909 with order 1
Centerline is valid?  [True, True]
Translation: X:124.11, Y:-3.37, Z:23.76
[[ 9.78585991e-01 -7.82225466e-02 -1.90396143e-01  1.24114112e+02]
 [ 8.13538781e-02  9.96647536e-01  8.67379479e-03 -3.36512007e+00]
 [ 1.89079361e-01 -2.39775187e-02  9.81669025e-01  2.37575911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.58486062399999 meters
Centerline goodness : 0.996086 with order 1
Centerline is valid?  [True, True]
Translation: X:124.17, Y:-3.37, Z:23.77
[[ 9.78778633e-01 -7.57743484e-02 -1.90395995e-01  1.24172838e+02]
 [ 7.88611118e-02  9.96847849e-01  8.67704723e-03 -3.36858162e+00]
 [ 1.89138340e-01 -2.35077483e-02  9.81669025e-01  2.37707501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.64486062399999 meters
Centerline goodness : 0.996095 with order 1
Centerline is valid?  [True, True]
Translation: X:124.23, Y:-3.37, Z:23.78
[[ 9.78966711e-01 -7.33045882e-02 -1.90395946e-01  1.24231741e+02]
 [ 7.63459591e-02  9.97043622e-01  8.67812790e-03 -3.37230685e+00]
 [ 1.89196917e-01 -2.30315594e-02  9.81669025e-01  2.37835046e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.70486062399998 meters
Centerline goodness : 0.996052 with order 1
Centerline is valid?  [True, True]
Translation: X:124.29, Y:-3.37, Z:23.79
[[ 9.79052558e-01 -7.21491192e-02 -1.90395883e-01  1.24290843e+02]
 [ 7.51694143e-02  9.97133003e-01  8.67949189e-03 -3.37492484e+00]
 [ 1.89223801e-01 -2.28096258e-02  9.81669025e-01  2.37933839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.76486062399998 meters
Centerline goodness : 0.996172 with order 1
Centerline is valid?  [True, True]
Translation: X:124.35, Y:-3.38, Z:23.80
[[ 9.79211980e-01 -6.99521832e-02 -1.90395878e-01  1.24350446e+02]
 [ 7.29319242e-02  9.97299152e-01  8.67960397e-03 -3.37657096e+00]
 [ 1.89274491e-01 -2.23851099e-02  9.81669025e-01  2.38040772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.82486062399998 meters
Centerline goodness : 0.996176 with order 1
Centerline is valid?  [True, True]
Translation: X:124.41, Y:-3.38, Z:23.82
[[ 9.79324384e-01 -6.83604478e-02 -1.90395904e-01  1.24409402e+02]
 [ 7.13106790e-02  9.97416393e-01  8.67904960e-03 -3.37789454e+00]
 [ 1.89310692e-01 -2.20768661e-02  9.81669025e-01  2.38159475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.88486062399998 meters
Centerline goodness : 0.996683 with order 1
Centerline is valid?  [True, True]
Translation: X:124.47, Y:-3.38, Z:23.83
[[ 9.79440148e-01 -6.66808998e-02 -1.90396044e-01  1.24469204e+02]
 [ 6.95995088e-02  9.97537286e-01  8.67596489e-03 -3.37865195e+00]
 [ 1.89348632e-01 -2.17490595e-02  9.81669025e-01  2.38284174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 125.94486062399999 meters
Centerline goodness : 0.995486 with order 1
Centerline is valid?  [True, True]
Translation: X:124.53, Y:-3.38, Z:23.84
[[ 9.79477978e-01 -6.61229123e-02 -1.90396039e-01  1.24528546e+02]
 [ 6.90312340e-02  9.97576771e-01  8.67608473e-03 -3.37832263e+00]
 [ 1.89360977e-01 -2.16413074e-02  9.81669025e-01  2.38397141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.00486062399999 meters
Centerline goodness : 0.995705 with order 1
Centerline is valid?  [True, True]
Translation: X:124.59, Y:-3.38, Z:23.85
[[ 9.79443756e-01 -6.66279201e-02 -1.90396033e-01  1.24587016e+02]
 [ 6.95455976e-02  9.97541043e-01  8.67621230e-03 -3.37898434e+00]
 [ 1.89349779e-01 -2.17390678e-02  9.81669025e-01  2.38503772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.06486062399998 meters
Centerline goodness : 0.996305 with order 1
Centerline is valid?  [True, True]
Translation: X:124.65, Y:-3.38, Z:23.86
[[ 9.79319707e-01 -6.84266517e-02 -1.90396180e-01  1.24646589e+02]
 [ 7.13769418e-02  9.97411706e-01  8.67298003e-03 -3.38006975e+00]
 [ 1.89309916e-01 -2.20835173e-02  9.81669025e-01  2.38607267e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.12486062399998 meters
Centerline goodness : 0.996217 with order 1
Centerline is valid?  [True, True]
Translation: X:124.71, Y:-3.38, Z:23.87
[[ 9.79249939e-01 -6.94180152e-02 -1.90396156e-01  1.24706922e+02]
 [ 7.23867205e-02  9.97338926e-01  8.67350979e-03 -3.38158920e+00]
 [ 1.89287400e-01 -2.22756873e-02  9.81669025e-01  2.38718716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.18486062399998 meters
Centerline goodness : 0.996313 with order 1
Centerline is valid?  [True, True]
Translation: X:124.77, Y:-3.38, Z:23.88
[[ 9.79248767e-01 -6.94353792e-02 -1.90395850e-01  1.24767135e+02]
 [ 7.24056914e-02  9.97337490e-01  8.68021654e-03 -3.38088884e+00]
 [ 1.89286205e-01 -2.22858345e-02  9.81669025e-01  2.38820201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.24486062399998 meters
Centerline goodness : 0.996397 with order 1
Centerline is valid?  [True, True]
Translation: X:124.83, Y:-3.38, Z:23.89
[[ 9.79287890e-01 -6.88840975e-02 -1.90394878e-01  1.24827084e+02]
 [ 7.18483052e-02  9.97377614e-01  8.70148589e-03 -3.38042309e+00]
 [ 1.89296195e-01 -2.22008091e-02  9.81669025e-01  2.38911074e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.30486062399999 meters
Centerline goodness : 0.996515 with order 1
Centerline is valid?  [True, True]
Translation: X:124.89, Y:-3.38, Z:23.90
[[ 9.79412672e-01 -6.70869893e-02 -1.90394731e-01  1.24885519e+02]
 [ 7.00186157e-02  9.97507705e-01  8.70470939e-03 -3.37783831e+00]
 [ 1.89336238e-01 -2.18566782e-02  9.81669025e-01  2.39023830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.36486062399999 meters
Centerline goodness : 0.996964 with order 1
Centerline is valid?  [True, True]
Translation: X:124.94, Y:-3.38, Z:23.92
[[ 9.79646447e-01 -6.35816275e-02 -1.90394895e-01  1.24944230e+02]
 [ 6.64477884e-02  9.97751964e-01  8.70110553e-03 -3.37515693e+00]
 [ 1.89413650e-01 -2.11753268e-02  9.81669025e-01  2.39166158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.42486062399999 meters
Centerline goodness : 0.996780 with order 1
Centerline is valid?  [True, True]
Translation: X:125.00, Y:-3.37, Z:23.93
[[ 9.79800995e-01 -6.11539047e-02 -1.90394882e-01  1.25004085e+02]
 [ 6.39752490e-02  9.97913550e-01  8.70140214e-03 -3.37470293e+00]
 [ 1.89465508e-01 -2.07062024e-02  9.81669025e-01  2.39282070e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.48486062399998 meters
Centerline goodness : 0.996994 with order 1
Centerline is valid?  [True, True]
Translation: X:125.06, Y:-3.37, Z:23.94
[[ 9.79936431e-01 -5.89435242e-02 -1.90394992e-01  1.25063040e+02]
 [ 6.17235414e-02  9.98055375e-01  8.69899800e-03 -3.37445744e+00]
 [ 1.89511995e-01 -2.02763182e-02  9.81669025e-01  2.39381806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.54486062399998 meters
Centerline goodness : 0.997580 with order 1
Centerline is valid?  [True, True]
Translation: X:125.12, Y:-3.37, Z:23.95
[[ 9.79990488e-01 -5.80368855e-02 -1.90395282e-01  1.25121900e+02]
 [ 6.07989152e-02  9.98112183e-01  8.69263129e-03 -3.37234450e+00]
 [ 1.89531358e-01 -2.00945226e-02  9.81669025e-01  2.39487075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.60486062399998 meters
Centerline goodness : 0.997294 with order 1
Centerline is valid?  [True, True]
Translation: X:125.18, Y:-3.37, Z:23.96
[[ 9.79919709e-01 -5.92190003e-02 -1.90395573e-01  1.25180276e+02]
 [ 6.20016644e-02  9.98038247e-01  8.68626151e-03 -3.37316179e+00]
 [ 1.89507672e-01 -2.03166813e-02  9.81669025e-01  2.39593603e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.66486062399999 meters
Centerline goodness : 0.997480 with order 1
Centerline is valid?  [True, True]
Translation: X:125.24, Y:-3.38, Z:23.97
[[ 9.79801115e-01 -6.11484508e-02 -1.90396014e-01  1.25238242e+02]
 [ 6.39649303e-02  9.97914427e-01  8.67659315e-03 -3.37507907e+00]
 [ 1.89468369e-01 -2.06800034e-02  9.81669025e-01  2.39699972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.72486062399999 meters
Centerline goodness : 0.997615 with order 1
Centerline is valid?  [True, True]
Translation: X:125.30, Y:-3.38, Z:23.98
[[ 9.79541810e-01 -6.51692612e-02 -1.90396454e-01  1.25296813e+02]
 [ 6.80582026e-02  9.97643707e-01  8.66692476e-03 -3.37651434e+00]
 [ 1.89383007e-01 -2.14476556e-02  9.81669025e-01  2.39808302e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.78486062399999 meters
Centerline goodness : 0.997681 with order 1
Centerline is valid?  [True, True]
Translation: X:125.36, Y:-3.38, Z:23.99
[[ 9.79461344e-01 -6.63676240e-02 -1.90396465e-01  1.25356320e+02]
 [ 6.92786622e-02  9.97559700e-01  8.66667632e-03 -3.37921568e+00]
 [ 1.89356654e-01 -2.16790868e-02  9.81669025e-01  2.39928648e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.84486062399998 meters
Centerline goodness : 0.997638 with order 1
Centerline is valid?  [True, True]
Translation: X:125.41, Y:-3.38, Z:24.00
[[ 9.79192126e-01 -7.02283571e-02 -1.90396319e-01  1.25414960e+02]
 [ 7.32113366e-02  9.97278764e-01  8.66989043e-03 -3.38151374e+00]
 [ 1.89269333e-01 -2.24286574e-02  9.81669025e-01  2.40027098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.90486062399998 meters
Centerline goodness : 0.997508 with order 1
Centerline is valid?  [True, True]
Translation: X:125.47, Y:-3.38, Z:24.01
[[ 9.79103149e-01 -7.14578261e-02 -1.90396438e-01  1.25474349e+02]
 [ 7.44630110e-02  9.97186110e-01  8.66726780e-03 -3.38399576e+00]
 [ 1.89241339e-01 -2.26636413e-02  9.81669025e-01  2.40138571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 126.96486062399998 meters
Centerline goodness : 0.997567 with order 1
Centerline is valid?  [True, True]
Translation: X:125.53, Y:-3.38, Z:24.03
[[ 9.79155575e-01 -7.07359229e-02 -1.90396399e-01  1.25533820e+02]
 [ 7.37279373e-02  9.97240721e-01  8.66811664e-03 -3.38438463e+00]
 [ 1.89257895e-01 -2.25249685e-02  9.81669025e-01  2.40271561e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.02486062399998 meters
Centerline goodness : 0.997226 with order 1
Centerline is valid?  [True, True]
Translation: X:125.59, Y:-3.39, Z:24.04
[[ 9.79128313e-01 -7.11127983e-02 -1.90396212e-01  1.25593349e+02]
 [ 7.41125624e-02  9.97212174e-01  8.67223110e-03 -3.38535984e+00]
 [ 1.89248714e-01 -2.26019781e-02  9.81669025e-01  2.40404571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.08486062399999 meters
Centerline goodness : 0.997452 with order 1
Centerline is valid?  [True, True]
Translation: X:125.65, Y:-3.39, Z:24.05
[[ 9.79073009e-01 -7.18705872e-02 -1.90396066e-01  1.25652534e+02]
 [ 7.48849623e-02  9.97154441e-01  8.67544240e-03 -3.38800543e+00]
 [ 1.89230773e-01 -2.27516937e-02  9.81669025e-01  2.40498837e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.14486062399999 meters
Centerline goodness : 0.997958 with order 1
Centerline is valid?  [True, True]
Translation: X:125.71, Y:-3.39, Z:24.06
[[ 9.78978400e-01 -7.31498997e-02 -1.90395340e-01  1.25712243e+02]
 [ 7.61909465e-02  9.97055365e-01  8.69134188e-03 -3.38978171e+00]
 [ 1.89198924e-01 -2.30150371e-02  9.81669025e-01  2.40615798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.20486062399998 meters
Centerline goodness : 0.997825 with order 1
Centerline is valid?  [True, True]
Translation: X:125.77, Y:-3.39, Z:24.07
[[ 9.78982713e-01 -7.30929531e-02 -1.90395032e-01  1.25771608e+02]
 [ 7.61342409e-02  9.97059637e-01  8.69808616e-03 -3.39210982e+00]
 [ 1.89199433e-01 -2.30108572e-02  9.81669025e-01  2.40744562e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.26486062399998 meters
Centerline goodness : 0.997849 with order 1
Centerline is valid?  [True, True]
Translation: X:125.83, Y:-3.40, Z:24.09
[[ 9.78960012e-01 -7.33967567e-02 -1.90394880e-01  1.25831343e+02]
 [ 7.64442895e-02  9.97035885e-01  8.70140149e-03 -3.39635740e+00]
 [ 1.89191873e-01 -2.30729255e-02  9.81669025e-01  2.40862529e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.32486062399998 meters
Centerline goodness : 0.997920 with order 1
Centerline is valid?  [True, True]
Translation: X:125.89, Y:-3.40, Z:24.10
[[ 9.78895833e-01 -7.42481968e-02 -1.90394731e-01  1.25891773e+02]
 [ 7.73120756e-02  9.96968942e-01  8.70466516e-03 -3.40029114e+00]
 [ 1.89171328e-01 -2.32407723e-02  9.81669025e-01  2.40978784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.38486062399998 meters
Centerline goodness : 0.997456 with order 1
Centerline is valid?  [True, True]
Translation: X:125.95, Y:-3.41, Z:24.11
[[ 9.78767645e-01 -7.59200599e-02 -1.90394435e-01  1.25952088e+02]
 [ 7.90160443e-02  9.96835283e-01  8.71114345e-03 -3.40547102e+00]
 [ 1.89130540e-01 -2.35704004e-02  9.81669025e-01  2.41094341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.44486062399999 meters
Centerline goodness : 0.997704 with order 1
Centerline is valid?  [True, True]
Translation: X:126.01, Y:-3.41, Z:24.12
[[ 9.78482479e-01 -7.95116975e-02 -1.90394141e-01  1.26010780e+02]
 [ 8.26751998e-02  9.96538416e-01  8.71756498e-03 -3.41224793e+00]
 [ 1.89041927e-01 -2.42708582e-02  9.81669025e-01  2.41207614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.50486062399999 meters
Centerline goodness : 0.997141 with order 1
Centerline is valid?  [True, True]
Translation: X:126.07, Y:-3.42, Z:24.13
[[ 9.78192997e-01 -8.29970692e-02 -1.90394191e-01  1.26070244e+02]
 [ 8.62246653e-02  9.96237587e-01  8.71646211e-03 -3.41892197e+00]
 [ 1.88954409e-01 -2.49430576e-02  9.81669025e-01  2.41312322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.56486062399998 meters
Centerline goodness : 0.997078 with order 1
Centerline is valid?  [True, True]
Translation: X:126.13, Y:-3.42, Z:24.14
[[ 9.78162689e-01 -8.33535878e-02 -1.90394152e-01  1.26131456e+02]
 [ 8.65879259e-02  9.96206073e-01  8.71732710e-03 -3.42336723e+00]
 [ 1.88945190e-01 -2.50127988e-02  9.81669025e-01  2.41433402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.62486062399998 meters
Centerline goodness : 0.997349 with order 1
Centerline is valid?  [True, True]
Translation: X:126.19, Y:-3.43, Z:24.15
[[ 9.78230407e-01 -8.25564528e-02 -1.90393550e-01  1.26192197e+02]
 [ 8.57785975e-02  9.96275972e-01  8.73045359e-03 -3.42721434e+00]
 [ 1.88963763e-01 -2.48720868e-02  9.81669025e-01  2.41548618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.68486062399998 meters
Centerline goodness : 0.997084 with order 1
Centerline is valid?  [True, True]
Translation: X:126.25, Y:-3.43, Z:24.17
[[ 9.78518243e-01 -7.90731965e-02 -1.90392955e-01  1.26251741e+02]
 [ 8.22335549e-02  9.96574731e-01  8.74341253e-03 -3.43072177e+00]
 [ 1.89049438e-01 -2.42122781e-02  9.81669025e-01  2.41659045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.74486062399998 meters
Centerline goodness : 0.997327 with order 1
Centerline is valid?  [True, True]
Translation: X:126.31, Y:-3.43, Z:24.18
[[ 9.78811461e-01 -7.53567862e-02 -1.90392959e-01  1.26310564e+02]
 [ 7.84485347e-02  9.96879823e-01  8.74331290e-03 -3.43258901e+00]
 [ 1.89140032e-01 -2.34941035e-02  9.81669025e-01  2.41763404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.80486062399999 meters
Centerline goodness : 0.996993 with order 1
Centerline is valid?  [True, True]
Translation: X:126.37, Y:-3.43, Z:24.19
[[ 9.79319635e-01 -6.84368333e-02 -1.90392888e-01  1.26369749e+02]
 [ 7.14010998e-02  9.97409349e-01  8.74487314e-03 -3.43347343e+00]
 [ 1.89301175e-01 -2.21582875e-02  9.81669025e-01  2.41869251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.86486062399999 meters
Centerline goodness : 0.996984 with order 1
Centerline is valid?  [True, True]
Translation: X:126.43, Y:-3.43, Z:24.20
[[ 9.79793961e-01 -6.12726141e-02 -1.90392912e-01  1.26428784e+02]
 [ 6.41043984e-02  9.97904887e-01  8.74434575e-03 -3.43283817e+00]
 [ 1.89458228e-01 -2.07726802e-02  9.81669025e-01  2.41995431e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.92486062399999 meters
Centerline goodness : 0.996763 with order 1
Centerline is valid?  [True, True]
Translation: X:126.49, Y:-3.43, Z:24.21
[[ 9.80041048e-01 -5.71847086e-02 -1.90392892e-01  1.26487461e+02]
 [ 5.99409990e-02  9.98163617e-01  8.74478026e-03 -3.43336740e+00]
 [ 1.89543190e-01 -1.99825838e-02  9.81669025e-01  2.42114822e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 127.98486062399998 meters
Centerline goodness : 0.997401 with order 1
Centerline is valid?  [True, True]
Translation: X:126.55, Y:-3.43, Z:24.22
[[ 9.80192399e-01 -5.45280980e-02 -1.90393138e-01  1.26546938e+02]
 [ 5.72342260e-02  9.98322526e-01  8.73941599e-03 -3.43444238e+00]
 [ 1.89597215e-01 -1.94633130e-02  9.81669025e-01  2.42219851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.044860624 meters
Centerline goodness : 0.996975 with order 1
Centerline is valid?  [True, True]
Translation: X:126.60, Y:-3.43, Z:24.23
[[ 9.80137884e-01 -5.54982340e-02 -1.90393475e-01  1.26604324e+02]
 [ 5.82208937e-02  9.98265535e-01  8.73207064e-03 -3.43456498e+00]
 [ 1.89578630e-01 -1.96435115e-02  9.81669026e-01  2.42309601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.104860624 meters
Centerline goodness : 0.997640 with order 1
Centerline is valid?  [True, True]
Translation: X:126.66, Y:-3.44, Z:24.24
[[ 9.79874703e-01 -5.99634789e-02 -1.90394191e-01  1.26663057e+02]
 [ 6.27657036e-02  9.97990225e-01  8.71643877e-03 -3.43539557e+00]
 [ 1.89488873e-01 -2.04912432e-02  9.81669026e-01  2.42407488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.16486062399997 meters
Centerline goodness : 0.997213 with order 1
Centerline is valid?  [True, True]
Translation: X:126.72, Y:-3.44, Z:24.25
[[ 9.79613906e-01 -6.40824484e-02 -1.90394419e-01  1.26722441e+02]
 [ 6.69598514e-02  9.97717640e-01  8.71145543e-03 -3.43776460e+00]
 [ 1.89401619e-01 -2.12826449e-02  9.81669026e-01  2.42513218e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.22486062399997 meters
Centerline goodness : 0.997545 with order 1
Centerline is valid?  [True, True]
Translation: X:126.78, Y:-3.44, Z:24.26
[[ 9.79252873e-01 -6.93814124e-02 -1.90394407e-01  1.26780924e+02]
 [ 7.23567647e-02  9.97340767e-01  8.71169848e-03 -3.43824032e+00]
 [ 1.89283674e-01 -2.23072791e-02  9.81669026e-01  2.42608729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.28486062399998 meters
Centerline goodness : 0.998050 with order 1
Centerline is valid?  [True, True]
Translation: X:126.84, Y:-3.44, Z:24.28
[[ 9.79170016e-01 -7.05413017e-02 -1.90394341e-01  1.26840818e+02]
 [ 7.35383569e-02  9.97254326e-01  8.71315689e-03 -3.43772324e+00]
 [ 1.89256943e-01 -2.25329490e-02  9.81669026e-01  2.42756958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.34486062399998 meters
Centerline goodness : 0.998649 with order 1
Centerline is valid?  [True, True]
Translation: X:126.90, Y:-3.44, Z:24.29
[[ 9.79181821e-01 -7.03780379e-02 -1.90394047e-01  1.26900788e+02]
 [ 7.33733088e-02  9.97266427e-01  8.71957782e-03 -3.43698402e+00]
 [ 1.89259924e-01 -2.25078933e-02  9.81669026e-01  2.42858174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.40486062399998 meters
Centerline goodness : 0.998598 with order 1
Centerline is valid?  [True, True]
Translation: X:126.96, Y:-3.44, Z:24.30
[[ 9.79227620e-01 -6.97382997e-02 -1.90393901e-01  1.26957160e+02]
 [ 7.27223649e-02  9.97314078e-01  8.72275966e-03 -3.43785495e+00]
 [ 1.89274207e-01 -2.23874619e-02  9.81669026e-01  2.42970251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.46486062399998 meters
Centerline goodness : 0.998455 with order 1
Centerline is valid?  [True, True]
Translation: X:127.02, Y:-3.44, Z:24.31
[[ 9.79334202e-01 -6.82234047e-02 -1.90394561e-01  1.27016257e+02]
 [ 7.11767211e-02  9.97425706e-01  8.70833568e-03 -3.43657509e+00]
 [ 1.89310317e-01 -2.20800315e-02  9.81669026e-01  2.43126480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.52486062399998 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:127.07, Y:-3.44, Z:24.32
[[ 9.79289971e-01 -6.88553901e-02 -1.90394559e-01  1.27074469e+02]
 [ 7.18203869e-02  9.97379565e-01  8.70836611e-03 -3.43798211e+00]
 [ 1.89296025e-01 -2.22022265e-02  9.81669026e-01  2.43237368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.584860624 meters
Centerline goodness : 0.998725 with order 1
Centerline is valid?  [True, True]
Translation: X:127.13, Y:-3.44, Z:24.33
[[ 9.79249791e-01 -6.94241487e-02 -1.90394682e-01  1.27134554e+02]
 [ 7.23991379e-02  9.97337744e-01  8.70568825e-03 -3.44064330e+00]
 [ 1.89283417e-01 -2.23094542e-02  9.81669026e-01  2.43331831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.644860624 meters
Centerline goodness : 0.998609 with order 1
Centerline is valid?  [True, True]
Translation: X:127.19, Y:-3.44, Z:24.34
[[ 9.79220192e-01 -6.98407846e-02 -1.90394538e-01  1.27193598e+02]
 [ 7.28240699e-02  9.97306779e-01  8.70882028e-03 -3.44248953e+00]
 [ 1.89273533e-01 -2.23931578e-02  9.81669026e-01  2.43429265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.704860624 meters
Centerline goodness : 0.998377 with order 1
Centerline is valid?  [True, True]
Translation: X:127.25, Y:-3.44, Z:24.36
[[ 9.79168989e-01 -7.05546350e-02 -1.90394680e-01  1.27252258e+02]
 [ 7.35505112e-02  9.97253495e-01  8.70572331e-03 -3.44405543e+00]
 [ 1.89257531e-01 -2.25280003e-02  9.81669026e-01  2.43555338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.764860624 meters
Centerline goodness : 0.998810 with order 1
Centerline is valid?  [True, True]
Translation: X:127.31, Y:-3.45, Z:24.37
[[ 9.79166615e-01 -7.05871996e-02 -1.90394822e-01  1.27312344e+02]
 [ 7.35830835e-02  9.97251119e-01  8.70262635e-03 -3.44649435e+00]
 [ 1.89257155e-01 -2.25311592e-02  9.81669026e-01  2.43680096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.824860624 meters
Centerline goodness : 0.998698 with order 1
Centerline is valid?  [True, True]
Translation: X:127.37, Y:-3.45, Z:24.38
[[ 9.79102226e-01 -7.14755845e-02 -1.90394517e-01  1.27371652e+02]
 [ 7.44891524e-02  9.97183792e-01  8.70928702e-03 -3.44853520e+00]
 [ 1.89235825e-01 -2.27096085e-02  9.81669026e-01  2.43775686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.88486062399997 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:127.43, Y:-3.45, Z:24.39
[[ 9.79072867e-01 -7.18770169e-02 -1.90394369e-01  1.27431657e+02]
 [ 7.48986185e-02  9.97153092e-01  8.71252412e-03 -3.44861633e+00]
 [ 1.89226103e-01 -2.27904712e-02  9.81669026e-01  2.43900650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 128.94486062399997 meters
Centerline goodness : 0.998049 with order 1
Centerline is valid?  [True, True]
Translation: X:127.49, Y:-3.45, Z:24.40
[[ 9.79046651e-01 -7.22340207e-02 -1.90394069e-01  1.27492413e+02]
 [ 7.52634678e-02  9.97125563e-01  8.71906078e-03 -3.45054077e+00]
 [ 1.89216981e-01 -2.28660852e-02  9.81669026e-01  2.44029930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.00486062399997 meters
Centerline goodness : 0.998004 with order 1
Centerline is valid?  [True, True]
Translation: X:127.55, Y:-3.45, Z:24.42
[[ 9.79090222e-01 -7.16426118e-02 -1.90393472e-01  1.27552797e+02]
 [ 7.46636344e-02  9.97170543e-01  8.73208624e-03 -3.45261447e+00]
 [ 1.89229173e-01 -2.27649688e-02  9.81669026e-01  2.44152543e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.06486062399998 meters
Centerline goodness : 0.998073 with order 1
Centerline is valid?  [True, True]
Translation: X:127.61, Y:-3.45, Z:24.43
[[ 9.79167314e-01 -7.05819319e-02 -1.90393177e-01  1.27612685e+02]
 [ 7.35845985e-02  9.97250693e-01  8.73851276e-03 -3.45482839e+00]
 [ 1.89252947e-01 -2.25664716e-02  9.81669026e-01  2.44267087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.12486062399998 meters
Centerline goodness : 0.998183 with order 1
Centerline is valid?  [True, True]
Translation: X:127.67, Y:-3.46, Z:24.44
[[ 9.79299575e-01 -6.87225728e-02 -1.90393145e-01  1.27672946e+02]
 [ 7.16910314e-02  9.97388601e-01  8.73921085e-03 -3.45668133e+00]
 [ 1.89295372e-01 -2.22077864e-02  9.81669026e-01  2.44382338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.18486062399998 meters
Centerline goodness : 0.998278 with order 1
Centerline is valid?  [True, True]
Translation: X:127.73, Y:-3.46, Z:24.45
[[ 9.79407200e-01 -6.71721565e-02 -1.90392854e-01  1.27732870e+02]
 [ 7.01131914e-02  9.97500705e-01  8.74555399e-03 -3.46017695e+00]
 [ 1.89329548e-01 -2.19145091e-02  9.81669026e-01  2.44501845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.24486062399998 meters
Centerline goodness : 0.998393 with order 1
Centerline is valid?  [True, True]
Translation: X:127.79, Y:-3.46, Z:24.46
[[ 9.79565947e-01 -6.48164646e-02 -1.90392703e-01  1.27792664e+02]
 [ 6.77146063e-02  9.97666372e-01  8.74884026e-03 -3.46355708e+00]
 [ 1.89381328e-01 -2.14624329e-02  9.81669026e-01  2.44623072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.30486062399999 meters
Centerline goodness : 0.998057 with order 1
Centerline is valid?  [True, True]
Translation: X:127.85, Y:-3.47, Z:24.47
[[ 9.79665119e-01 -6.33002777e-02 -1.90392569e-01  1.27851792e+02]
 [ 6.61709607e-02  9.97769919e-01  8.75175534e-03 -3.46719923e+00]
 [ 1.89413989e-01 -2.11722486e-02  9.81669026e-01  2.44741978e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.364860624 meters
Centerline goodness : 0.998057 with order 1
Centerline is valid?  [True, True]
Translation: X:127.91, Y:-3.47, Z:24.48
[[ 9.79689273e-01 -6.29253384e-02 -1.90392569e-01  1.27909799e+02]
 [ 6.57890922e-02  9.97795170e-01  8.75175534e-03 -3.47088460e+00]
 [ 1.89422078e-01 -2.10997551e-02  9.81669026e-01  2.44846113e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.424860624 meters
Centerline goodness : 0.998378 with order 1
Centerline is valid?  [True, True]
Translation: X:127.97, Y:-3.47, Z:24.49
[[ 9.79686182e-01 -6.29730082e-02 -1.90392715e-01  1.27967364e+02]
 [ 6.58370340e-02  9.97792036e-01  8.74858247e-03 -3.47451661e+00]
 [ 1.89421410e-01 -2.11057570e-02  9.81669026e-01  2.44934456e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.484860624 meters
Centerline goodness : 0.998335 with order 1
Centerline is valid?  [True, True]
Translation: X:128.02, Y:-3.48, Z:24.50
[[ 9.79665423e-01 -6.32938344e-02 -1.90393144e-01  1.28024920e+02]
 [ 6.61619936e-02  9.97770623e-01  8.73922672e-03 -3.47801332e+00]
 [ 1.89415547e-01 -2.11583082e-02  9.81669026e-01  2.45043836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.544860624 meters
Centerline goodness : 0.998316 with order 1
Centerline is valid?  [True, True]
Translation: X:128.08, Y:-3.48, Z:24.52
[[ 9.79584059e-01 -6.45349790e-02 -1.90395134e-01  1.28083311e+02]
 [ 6.74177126e-02  9.97686944e-01  8.69565610e-03 -3.48238174e+00]
 [ 1.89393565e-01 -2.13541305e-02  9.81669027e-01  2.45178471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.604860624 meters
Centerline goodness : 0.998729 with order 1
Centerline is valid?  [True, True]
Translation: X:128.14, Y:-3.49, Z:24.53
[[ 9.79527021e-01 -6.53944148e-02 -1.90395343e-01  1.28143017e+02]
 [ 6.82921525e-02  9.97627509e-01  8.69108182e-03 -3.48635385e+00]
 [ 1.89375283e-01 -2.15156573e-02  9.81669027e-01  2.45304051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.66486062399997 meters
Centerline goodness : 0.998115 with order 1
Centerline is valid?  [True, True]
Translation: X:128.20, Y:-3.49, Z:24.54
[[ 9.79494668e-01 -6.58781029e-02 -1.90395041e-01  1.28201861e+02]
 [ 6.87860458e-02  9.97593520e-01  8.69768717e-03 -3.48982665e+00]
 [ 1.89363872e-01 -2.16158602e-02  9.81669027e-01  2.45399234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.72486062399997 meters
Centerline goodness : 0.997848 with order 1
Centerline is valid?  [True, True]
Translation: X:128.26, Y:-3.50, Z:24.55
[[ 9.79488097e-01 -6.59757224e-02 -1.90395041e-01  1.28261439e+02]
 [ 6.88854691e-02  9.97586659e-01  8.69768717e-03 -3.49505049e+00]
 [ 1.89361717e-01 -2.16347328e-02  9.81669027e-01  2.45530775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.78486062399998 meters
Centerline goodness : 0.997951 with order 1
Centerline is valid?  [True, True]
Translation: X:128.32, Y:-3.50, Z:24.56
[[ 9.79491458e-01 -6.59262315e-02 -1.90394895e-01  1.28320811e+02]
 [ 6.88356790e-02  9.97590068e-01  8.70089439e-03 -3.50070057e+00]
 [ 1.89362439e-01 -2.16284136e-02  9.81669027e-01  2.45646649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.84486062399998 meters
Centerline goodness : 0.998135 with order 1
Centerline is valid?  [True, True]
Translation: X:128.38, Y:-3.50, Z:24.58
[[ 9.79467365e-01 -6.62832121e-02 -1.90394895e-01  1.28379885e+02]
 [ 6.91992557e-02  9.97564914e-01  8.70089439e-03 -3.50499873e+00]
 [ 1.89354543e-01 -2.16974271e-02  9.81669027e-01  2.45775642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.90486062399998 meters
Centerline goodness : 0.998005 with order 1
Centerline is valid?  [True, True]
Translation: X:128.44, Y:-3.51, Z:24.59
[[ 9.79320638e-01 -6.84168956e-02 -1.90394895e-01  1.28438662e+02]
 [ 7.13723591e-02  9.97411791e-01  8.70089439e-03 -3.51101416e+00]
 [ 1.89306825e-01 -2.21098982e-02  9.81669027e-01  2.45892444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 129.96486062399998 meters
Centerline goodness : 0.998028 with order 1
Centerline is valid?  [True, True]
Translation: X:128.50, Y:-3.52, Z:24.60
[[ 9.79269006e-01 -6.91520064e-02 -1.90394891e-01  1.28498593e+02]
 [ 7.21210644e-02  9.97357932e-01  8.70097369e-03 -3.51525348e+00]
 [ 1.89290165e-01 -2.22520760e-02  9.81669027e-01  2.46001825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.02486062399998 meters
Centerline goodness : 0.997655 with order 1
Centerline is valid?  [True, True]
Translation: X:128.56, Y:-3.52, Z:24.61
[[ 9.79216522e-01 -6.98916578e-02 -1.90394744e-01  1.28558890e+02]
 [ 7.28749952e-02  9.97303099e-01  8.70419185e-03 -3.51977289e+00]
 [ 1.89272918e-01 -2.23983045e-02  9.81669027e-01  2.46111390e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.084860624 meters
Centerline goodness : 0.997718 with order 1
Centerline is valid?  [True, True]
Translation: X:128.62, Y:-3.52, Z:24.62
[[ 9.79401470e-01 -6.72511087e-02 -1.90394454e-01  1.28618094e+02]
 [ 7.01868832e-02  9.97495829e-01  8.71052772e-03 -3.52173649e+00]
 [ 1.89331881e-01 -2.18942969e-02  9.81669027e-01  2.46214775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.144860624 meters
Centerline goodness : 0.998097 with order 1
Centerline is valid?  [True, True]
Translation: X:128.68, Y:-3.52, Z:24.63
[[ 9.79573071e-01 -6.47034103e-02 -1.90394507e-01  1.28676957e+02]
 [ 6.75918896e-02  9.97675039e-01  8.70937639e-03 -3.52301708e+00]
 [ 1.89388320e-01 -2.14005950e-02  9.81669027e-01  2.46335445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.204860624 meters
Centerline goodness : 0.998136 with order 1
Centerline is valid?  [True, True]
Translation: X:128.74, Y:-3.52, Z:24.64
[[ 9.79782076e-01 -6.14573993e-02 -1.90394518e-01  1.28735201e+02]
 [ 6.42858371e-02  9.97893522e-01  8.70912806e-03 -3.52402241e+00]
 [ 1.89458216e-01 -2.07727185e-02  9.81669027e-01  2.46440057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.264860624 meters
Centerline goodness : 0.998195 with order 1
Centerline is valid?  [True, True]
Translation: X:128.79, Y:-3.52, Z:24.66
[[ 9.80085970e-01 -5.64033224e-02 -1.90394737e-01  1.28793778e+02]
 [ 5.91373901e-02  9.98211903e-01  8.70432963e-03 -3.52368544e+00]
 [ 1.89563340e-01 -1.97904392e-02  9.81669027e-01  2.46581831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.324860624 meters
Centerline goodness : 0.998420 with order 1
Centerline is valid?  [True, True]
Translation: X:128.85, Y:-3.52, Z:24.67
[[ 9.80229773e-01 -5.38461291e-02 -1.90394817e-01  1.28851869e+02]
 [ 5.65325633e-02  9.98362827e-01  8.70259012e-03 -3.52448598e+00]
 [ 1.89614507e-01 -1.92940450e-02  9.81669027e-01  2.46693655e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.38486062399997 meters
Centerline goodness : 0.998126 with order 1
Centerline is valid?  [True, True]
Translation: X:128.91, Y:-3.53, Z:24.68
[[ 9.80267923e-01 -5.31464919e-02 -1.90394981e-01  1.28910769e+02]
 [ 5.58192905e-02  9.98402992e-01  8.69898715e-03 -3.52729622e+00]
 [ 1.89628599e-01 -1.91550509e-02  9.81669027e-01  2.46801674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.44486062399997 meters
Centerline goodness : 0.998916 with order 1
Centerline is valid?  [True, True]
Translation: X:128.97, Y:-3.53, Z:24.69
[[ 9.80238984e-01 -5.36771056e-02 -1.90395120e-01  1.28967866e+02]
 [ 5.63591373e-02  9.98372690e-01  8.69595405e-03 -3.53019664e+00]
 [ 1.89618514e-01 -1.92546179e-02  9.81669027e-01  2.46928890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.50486062399997 meters
Centerline goodness : 0.998394 with order 1
Centerline is valid?  [True, True]
Translation: X:129.03, Y:-3.53, Z:24.70
[[ 9.80166730e-01 -5.49737835e-02 -1.90397123e-01  1.29026478e+02]
 [ 5.76713311e-02  9.98298133e-01  8.65188782e-03 -3.53284472e+00]
 [ 1.89597465e-01 -1.94607481e-02  9.81669028e-01  2.47041585e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.56486062399998 meters
Centerline goodness : 0.998107 with order 1
Centerline is valid?  [True, True]
Translation: X:129.09, Y:-3.54, Z:24.72
[[ 9.79906599e-01 -5.94296724e-02 -1.90397405e-01  1.29085098e+02]
 [ 6.22084358e-02  9.98025733e-01  8.64567681e-03 -3.53675791e+00]
 [ 1.89507700e-01 -2.03162805e-02  9.81669028e-01  2.47181915e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.62486062399998 meters
Centerline goodness : 0.997749 with order 1
Centerline is valid?  [True, True]
Translation: X:129.14, Y:-3.54, Z:24.73
[[ 9.79801791e-01 -6.11329597e-02 -1.90397511e-01  1.29143321e+02]
 [ 6.39427660e-02  9.97916136e-01  8.64333612e-03 -3.53998484e+00]
 [ 1.89472356e-01 -2.06432997e-02  9.81669028e-01  2.47273142e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.68486062399998 meters
Centerline goodness : 0.998583 with order 1
Centerline is valid?  [True, True]
Translation: X:129.20, Y:-3.54, Z:24.74
[[ 9.79600890e-01 -6.42720765e-02 -1.90397468e-01  1.29202343e+02]
 [ 6.71400927e-02  9.97706111e-01  8.64429057e-03 -3.54303326e+00]
 [ 1.89405130e-01 -2.12512584e-02  9.81669028e-01  2.47383763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.74486062399998 meters
Centerline goodness : 0.997974 with order 1
Centerline is valid?  [True, True]
Translation: X:129.26, Y:-3.54, Z:24.75
[[ 9.79410547e-01 -6.71098437e-02 -1.90397606e-01  1.29261814e+02]
 [ 7.00297141e-02  9.97507478e-01  8.64123084e-03 -3.54494014e+00]
 [ 1.89343125e-01 -2.17968026e-02  9.81669028e-01  2.47515787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.80486062399999 meters
Centerline goodness : 0.998445 with order 1
Centerline is valid?  [True, True]
Translation: X:129.32, Y:-3.55, Z:24.76
[[ 9.79368083e-01 -6.77270495e-02 -1.90397491e-01  1.29321712e+02]
 [ 7.06588137e-02  9.97463091e-01  8.64378435e-03 -3.54635620e+00]
 [ 1.89329051e-01 -2.19187073e-02  9.81669028e-01  2.47624116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.864860624 meters
Centerline goodness : 0.998329 with order 1
Centerline is valid?  [True, True]
Translation: X:129.38, Y:-3.55, Z:24.78
[[ 9.79460372e-01 -6.63794370e-02 -1.90397346e-01  1.29381246e+02]
 [ 6.92869126e-02  9.97559298e-01  8.64697271e-03 -3.54678035e+00]
 [ 1.89358661e-01 -2.16614114e-02  9.81669028e-01  2.47758510e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.924860624 meters
Centerline goodness : 0.997981 with order 1
Centerline is valid?  [True, True]
Translation: X:129.44, Y:-3.55, Z:24.79
[[ 9.79628053e-01 -6.38572463e-02 -1.90397293e-01  1.29440056e+02]
 [ 6.67183346e-02  9.97734370e-01  8.64814208e-03 -3.54743216e+00]
 [ 1.89413676e-01 -2.11749529e-02  9.81669028e-01  2.47857596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 130.984860624 meters
Centerline goodness : 0.998546 with order 1
Centerline is valid?  [True, True]
Translation: X:129.50, Y:-3.55, Z:24.80
[[ 9.79827550e-01 -6.07191160e-02 -1.90397375e-01  1.29498958e+02]
 [ 6.35218452e-02  9.97942992e-01  8.64632546e-03 -3.54830335e+00]
 [ 1.89480729e-01 -2.05663005e-02  9.81669028e-01  2.47995242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.044860624 meters
Centerline goodness : 0.998338 with order 1
Centerline is valid?  [True, True]
Translation: X:129.56, Y:-3.55, Z:24.81
[[ 9.79861770e-01 -6.01643128e-02 -1.90397392e-01  1.29558377e+02]
 [ 6.29567142e-02  9.97978807e-01  8.64596032e-03 -3.55074800e+00]
 [ 1.89492384e-01 -2.04586402e-02  9.81669028e-01  2.48116551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.10486062399997 meters
Centerline goodness : 0.998159 with order 1
Centerline is valid?  [True, True]
Translation: X:129.62, Y:-3.55, Z:24.82
[[ 9.79834321e-01 -6.06097124e-02 -1.90397392e-01  1.29617772e+02]
 [ 6.34103487e-02  9.97950086e-01  8.64596032e-03 -3.55358097e+00]
 [ 1.89483064e-01 -2.05447737e-02  9.81669028e-01  2.48226984e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.16486062399997 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:129.68, Y:-3.56, Z:24.84
[[ 9.79694012e-01 -6.28368978e-02 -1.90397392e-01  1.29676785e+02]
 [ 6.56787073e-02  9.97803365e-01  8.64596032e-03 -3.55704031e+00]
 [ 1.89435873e-01 -2.09754501e-02  9.81669028e-01  2.48358600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.22486062399997 meters
Centerline goodness : 0.998254 with order 1
Centerline is valid?  [True, True]
Translation: X:129.74, Y:-3.56, Z:24.85
[[ 9.79565869e-01 -6.48037781e-02 -1.90397425e-01  1.29735722e+02]
 [ 6.76817991e-02  9.97669502e-01  8.64521860e-03 -3.56136624e+00]
 [ 1.89393462e-01 -2.13550014e-02  9.81669028e-01  2.48455404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.28486062399998 meters
Centerline goodness : 0.998686 with order 1
Centerline is valid?  [True, True]
Translation: X:129.79, Y:-3.56, Z:24.86
[[ 9.79360306e-01 -6.78401659e-02 -1.90397222e-01  1.29794678e+02]
 [ 7.07751533e-02  9.97454791e-01  8.64969186e-03 -3.56416398e+00]
 [ 1.89325825e-01 -2.19465575e-02  9.81669028e-01  2.48580812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.34486062399998 meters
Centerline goodness : 0.998639 with order 1
Centerline is valid?  [True, True]
Translation: X:129.85, Y:-3.57, Z:24.87
[[ 9.79327557e-01 -6.83112435e-02 -1.90397240e-01  1.29853091e+02]
 [ 7.12548573e-02  9.97420641e-01  8.64929076e-03 -3.56621544e+00]
 [ 1.89315294e-01 -2.20372170e-02  9.81669028e-01  2.48685903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.40486062399998 meters
Centerline goodness : 0.998344 with order 1
Centerline is valid?  [True, True]
Translation: X:129.91, Y:-3.57, Z:24.88
[[ 9.79263094e-01 -6.92288888e-02 -1.90397358e-01  1.29913787e+02]
 [ 7.21889593e-02  9.97353492e-01  8.64670409e-03 -3.56876369e+00]
 [ 1.89294868e-01 -2.22119853e-02  9.81669028e-01  2.48838986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.46486062399998 meters
Centerline goodness : 0.998499 with order 1
Centerline is valid?  [True, True]
Translation: X:129.97, Y:-3.57, Z:24.89
[[ 9.79167586e-01 -7.05684775e-02 -1.90396766e-01  1.29972540e+02]
 [ 7.35557885e-02  9.97253506e-01  8.65971821e-03 -3.57060194e+00]
 [ 1.89262739e-01 -2.24840996e-02  9.81669028e-01  2.48949947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.52486062399998 meters
Centerline goodness : 0.998610 with order 1
Centerline is valid?  [True, True]
Translation: X:130.03, Y:-3.57, Z:24.91
[[ 9.79187932e-01 -7.02855958e-02 -1.90396766e-01  1.30032517e+02]
 [ 7.32676818e-02  9.97274714e-01  8.65971821e-03 -3.57216114e+00]
 [ 1.89269227e-01 -2.24294212e-02  9.81669028e-01  2.49074722e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.584860624 meters
Centerline goodness : 0.998587 with order 1
Centerline is valid?  [True, True]
Translation: X:130.09, Y:-3.57, Z:24.92
[[ 9.79299748e-01 -6.87108859e-02 -1.90396475e-01  1.30092360e+02]
 [ 7.16651105e-02  9.97391102e-01  8.66611868e-03 -3.57459447e+00]
 [ 1.89304293e-01 -2.21315122e-02  9.81669028e-01  2.49179227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.644860624 meters
Centerline goodness : 0.997923 with order 1
Centerline is valid?  [True, True]
Translation: X:130.15, Y:-3.58, Z:24.93
[[ 9.79353814e-01 -6.79367253e-02 -1.90396186e-01  1.30151795e+02]
 [ 7.08778648e-02  9.97447300e-01  8.67246382e-03 -3.57776880e+00]
 [ 1.89320983e-01 -2.19882856e-02  9.81669028e-01  2.49300018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.704860624 meters
Centerline goodness : 0.998298 with order 1
Centerline is valid?  [True, True]
Translation: X:130.21, Y:-3.58, Z:24.94
[[ 9.79316318e-01 -6.84751210e-02 -1.90396186e-01  1.30211239e+02]
 [ 7.14262071e-02  9.97408184e-01  8.67246382e-03 -3.58153808e+00]
 [ 1.89308866e-01 -2.20923627e-02  9.81669028e-01  2.49422087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.764860624 meters
Centerline goodness : 0.998273 with order 1
Centerline is valid?  [True, True]
Translation: X:130.27, Y:-3.59, Z:24.95
[[ 9.79175294e-01 -7.04633861e-02 -1.90396045e-01  1.30269611e+02]
 [ 7.34517897e-02  9.97261034e-01  8.67554011e-03 -3.58694455e+00]
 [ 1.89263249e-01 -2.24798048e-02  9.81669028e-01  2.49524986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.824860624 meters
Centerline goodness : 0.998165 with order 1
Centerline is valid?  [True, True]
Translation: X:130.33, Y:-3.59, Z:24.96
[[ 9.79103841e-01 -7.14490192e-02 -1.90396184e-01  1.30328384e+02]
 [ 7.44550444e-02  9.97186660e-01  8.67250129e-03 -3.59143021e+00]
 [ 1.89240893e-01 -2.26672356e-02  9.81669028e-01  2.49636509e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.88486062399997 meters
Centerline goodness : 0.998058 with order 1
Centerline is valid?  [True, True]
Translation: X:130.39, Y:-3.60, Z:24.97
[[ 9.79087482e-01 -7.16727319e-02 -1.90396222e-01  1.30387148e+02]
 [ 7.46827270e-02  9.97169641e-01  8.67165766e-03 -3.59578423e+00]
 [ 1.89235811e-01 -2.27096206e-02  9.81669028e-01  2.49744347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 131.94486062399997 meters
Centerline goodness : 0.998081 with order 1
Centerline is valid?  [True, True]
Translation: X:130.45, Y:-3.60, Z:24.98
[[ 9.79212565e-01 -6.99426946e-02 -1.90396357e-01  1.30446336e+02]
 [ 7.29201694e-02  9.97300107e-01  8.66870264e-03 -3.60054437e+00]
 [ 1.89275995e-01 -2.23722371e-02  9.81669028e-01  2.49828291e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.00486062399997 meters
Centerline goodness : 0.997969 with order 1
Centerline is valid?  [True, True]
Translation: X:130.50, Y:-3.60, Z:25.00
[[ 9.79229213e-01 -6.97091561e-02 -1.90396380e-01  1.30504053e+02]
 [ 7.26822193e-02  9.97317481e-01  8.66819285e-03 -3.60402451e+00]
 [ 1.89281386e-01 -2.23265791e-02  9.81669028e-01  2.49960550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.06486062399998 meters
Centerline goodness : 0.997975 with order 1
Centerline is valid?  [True, True]
Translation: X:130.56, Y:-3.61, Z:25.01
[[ 9.79370239e-01 -6.76942457e-02 -1.90398069e-01  1.30562828e+02]
 [ 7.06229388e-02  9.97465743e-01  8.63093522e-03 -3.60714569e+00]
 [ 1.89331287e-01 -2.18993523e-02  9.81669029e-01  2.50117389e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.12486062399998 meters
Centerline goodness : 0.998267 with order 1
Centerline is valid?  [True, True]
Translation: X:130.62, Y:-3.61, Z:25.02
[[ 9.79689323e-01 -6.29079061e-02 -1.90398073e-01  1.30621364e+02]
 [ 6.57481277e-02  9.97798924e-01  8.63085268e-03 -3.60922110e+00]
 [ 1.89436043e-01 -2.09738710e-02  9.81669029e-01  2.50221300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.18486062399998 meters
Centerline goodness : 0.997991 with order 1
Centerline is valid?  [True, True]
Translation: X:130.68, Y:-3.61, Z:25.03
[[ 9.80006238e-01 -5.77606349e-02 -1.90398221e-01  1.30681034e+02]
 [ 6.05050591e-02  9.98130604e-01  8.62759070e-03 -3.61236161e+00]
 [ 1.89543956e-01 -1.99751483e-02  9.81669029e-01  2.50341003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.24486062399998 meters
Centerline goodness : 0.998087 with order 1
Centerline is valid?  [True, True]
Translation: X:130.74, Y:-3.62, Z:25.05
[[ 9.80202847e-01 -5.43219687e-02 -1.90398274e-01  1.30739900e+02]
 [ 5.70025595e-02  9.98336763e-01  8.62640554e-03 -3.61590756e+00]
 [ 1.89612994e-01 -1.93088162e-02  9.81669029e-01  2.50450384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.30486062399999 meters
Centerline goodness : 0.997860 with order 1
Centerline is valid?  [True, True]
Translation: X:130.80, Y:-3.62, Z:25.06
[[ 9.80397873e-01 -5.06796386e-02 -1.90398487e-01  1.30798227e+02]
 [ 5.32919301e-02  9.98541755e-01  8.62170581e-03 -3.61978625e+00]
 [ 1.89683895e-01 -1.85994049e-02  9.81669029e-01  2.50594282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.364860624 meters
Centerline goodness : 0.997952 with order 1
Centerline is valid?  [True, True]
Translation: X:130.86, Y:-3.62, Z:25.07
[[ 9.80501126e-01 -4.86411073e-02 -1.90398488e-01  1.30857313e+02]
 [ 5.12156647e-02  9.98650400e-01  8.62168420e-03 -3.62349155e+00]
 [ 1.89722158e-01 -1.82049562e-02  9.81669029e-01  2.50705889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.424860624 meters
Centerline goodness : 0.997769 with order 1
Centerline is valid?  [True, True]
Translation: X:130.92, Y:-3.63, Z:25.08
[[ 9.80603432e-01 -4.65329615e-02 -1.90398512e-01  1.30915948e+02]
 [ 4.90683921e-02  9.98758213e-01  8.62116090e-03 -3.62795755e+00]
 [ 1.89760909e-01 -1.77964888e-02  9.81669029e-01  2.50811920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.484860624 meters
Centerline goodness : 0.998046 with order 1
Centerline is valid?  [True, True]
Translation: X:130.97, Y:-3.63, Z:25.09
[[ 9.80587300e-01 -4.68705177e-02 -1.90398798e-01  1.30973970e+02]
 [ 4.94109820e-02  9.98741378e-01  8.61484404e-03 -3.63053973e+00]
 [ 1.89755375e-01 -1.78553982e-02  9.81669029e-01  2.50920625e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.544860624 meters
Centerline goodness : 0.997979 with order 1
Centerline is valid?  [True, True]
Translation: X:131.03, Y:-3.63, Z:25.10
[[ 9.80537273e-01 -4.78977776e-02 -1.90400784e-01  1.31031570e+02]
 [ 5.04487683e-02  9.98689874e-01  8.57072226e-03 -3.63331886e+00]
 [ 1.89740816e-01 -1.80093977e-02  9.81669030e-01  2.51024397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.60486062399997 meters
Centerline goodness : 0.997980 with order 1
Centerline is valid?  [True, True]
Translation: X:131.09, Y:-3.64, Z:25.11
[[ 9.80482546e-01 -4.89976047e-02 -1.90402762e-01  1.31090287e+02]
 [ 5.15604583e-02  9.98633475e-01  8.52656337e-03 -3.63620873e+00]
 [ 1.89724790e-01 -1.81774002e-02  9.81669031e-01  2.51143311e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.66486062399997 meters
Centerline goodness : 0.998002 with order 1
Centerline is valid?  [True, True]
Translation: X:131.15, Y:-3.64, Z:25.13
[[ 9.80362535e-01 -5.13422417e-02 -1.90402924e-01  1.31147239e+02]
 [ 5.39477961e-02  9.98507384e-01  8.52292981e-03 -3.63708579e+00]
 [ 1.89681139e-01 -1.86273792e-02  9.81669031e-01  2.51251063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.72486062399997 meters
Centerline goodness : 0.998153 with order 1
Centerline is valid?  [True, True]
Translation: X:131.21, Y:-3.64, Z:25.14
[[ 9.80261712e-01 -5.32305014e-02 -1.90403493e-01  1.31205678e+02]
 [ 5.58685552e-02  9.98401863e-01  8.51021031e-03 -3.63849543e+00]
 [ 1.89646199e-01 -1.89798014e-02  9.81669031e-01  2.51387054e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.78486062399998 meters
Centerline goodness : 0.998534 with order 1
Centerline is valid?  [True, True]
Translation: X:131.27, Y:-3.64, Z:25.15
[[ 9.80159773e-01 -5.50751639e-02 -1.90403637e-01  1.31265704e+02]
 [ 5.77467288e-02  9.98295020e-01  8.50697372e-03 -3.64028034e+00]
 [ 1.89610480e-01 -1.93333806e-02  9.81669031e-01  2.51487821e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.84486062399998 meters
Centerline goodness : 0.998553 with order 1
Centerline is valid?  [True, True]
Translation: X:131.32, Y:-3.64, Z:25.16
[[ 9.80139113e-01 -5.54416294e-02 -1.90403637e-01  1.31323324e+02]
 [ 5.81199771e-02  9.98273359e-01  8.50698649e-03 -3.64045199e+00]
 [ 1.89603237e-01 -1.94042852e-02  9.81669031e-01  2.51590753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.90486062399998 meters
Centerline goodness : 0.998851 with order 1
Centerline is valid?  [True, True]
Translation: X:131.38, Y:-3.64, Z:25.17
[[ 9.80164341e-01 -5.49926928e-02 -1.90403960e-01  1.31380713e+02]
 [ 5.76613418e-02  9.98300017e-01  8.49974449e-03 -3.64219461e+00]
 [ 1.89612853e-01 -1.93100943e-02  9.81669031e-01  2.51704824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 132.96486062399998 meters
Centerline goodness : 0.998234 with order 1
Centerline is valid?  [True, True]
Translation: X:131.44, Y:-3.64, Z:25.18
[[ 9.80172172e-01 -5.48510289e-02 -1.90404509e-01  1.31438897e+02]
 [ 5.75146903e-02  9.98308581e-01  8.48743622e-03 -3.64383747e+00]
 [ 1.89616910e-01 -1.92702052e-02  9.81669031e-01  2.51826365e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.02486062399998 meters
Centerline goodness : 0.998414 with order 1
Centerline is valid?  [True, True]
Translation: X:131.50, Y:-3.65, Z:25.19
[[ 9.80112313e-01 -5.59094947e-02 -1.90404785e-01  1.31497596e+02]
 [ 5.85915487e-02  9.98246011e-01  8.48123779e-03 -3.64581311e+00]
 [ 1.89596635e-01 -1.94686768e-02  9.81669031e-01  2.51940290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.084860624 meters
Centerline goodness : 0.998549 with order 1
Centerline is valid?  [True, True]
Translation: X:131.56, Y:-3.65, Z:25.20
[[ 9.80102229e-01 -5.60850499e-02 -1.90405063e-01  1.31555776e+02]
 [ 5.87691496e-02  9.98235624e-01  8.47498298e-03 -3.64819609e+00]
 [ 1.89593797e-01 -1.94962934e-02  9.81669031e-01  2.52034185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.144860624 meters
Centerline goodness : 0.998498 with order 1
Centerline is valid?  [True, True]
Translation: X:131.61, Y:-3.65, Z:25.22
[[ 9.80107848e-01 -5.59848948e-02 -1.90405615e-01  1.31614547e+02]
 [ 5.86647550e-02  9.98241870e-01  8.46256931e-03 -3.64942385e+00]
 [ 1.89597081e-01 -1.94643294e-02  9.81669031e-01  2.52160097e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.204860624 meters
Centerline goodness : 0.998683 with order 1
Centerline is valid?  [True, True]
Translation: X:131.67, Y:-3.65, Z:25.23
[[ 9.80150873e-01 -5.52244170e-02 -1.90406223e-01  1.31672182e+02]
 [ 5.78875705e-02  9.98287356e-01  8.44886020e-03 -3.65008782e+00]
 [ 1.89613542e-01 -1.93033114e-02  9.81669031e-01  2.52264499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.264860624 meters
Centerline goodness : 0.998814 with order 1
Centerline is valid?  [True, True]
Translation: X:131.73, Y:-3.65, Z:25.24
[[ 9.80330211e-01 -5.19421679e-02 -1.90406643e-01  1.31731904e+02]
 [ 5.45427592e-02  9.98475770e-01  8.43940368e-03 -3.64915933e+00]
 [ 1.89678058e-01 -1.86587060e-02  9.81669031e-01  2.52386332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.324860624 meters
Centerline goodness : 0.998692 with order 1
Centerline is valid?  [True, True]
Translation: X:131.79, Y:-3.65, Z:25.25
[[ 9.80431397e-01 -4.99957096e-02 -1.90406681e-01  1.31791096e+02]
 [ 5.25601007e-02  9.98582108e-01  8.43852661e-03 -3.64982846e+00]
 [ 1.89714815e-01 -1.82811908e-02  9.81669031e-01  2.52493572e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.38486062399997 meters
Centerline goodness : 0.998708 with order 1
Centerline is valid?  [True, True]
Translation: X:131.85, Y:-3.65, Z:25.26
[[ 9.80565300e-01 -4.72962640e-02 -1.90406819e-01  1.31850128e+02]
 [ 4.98100776e-02  9.98723085e-01  8.43542783e-03 -3.64913522e+00]
 [ 1.89764721e-01 -1.77556662e-02  9.81669031e-01  2.52618951e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.44486062399997 meters
Centerline goodness : 0.998591 with order 1
Centerline is valid?  [True, True]
Translation: X:131.91, Y:-3.65, Z:25.27
[[ 9.80636467e-01 -4.57969360e-02 -1.90406830e-01  1.31907463e+02]
 [ 4.82829336e-02  9.98798081e-01  8.43516840e-03 -3.64966750e+00]
 [ 1.89791672e-01 -1.74652341e-02  9.81669031e-01  2.52732338e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.50486062399997 meters
Centerline goodness : 0.998680 with order 1
Centerline is valid?  [True, True]
Translation: X:131.96, Y:-3.65, Z:25.29
[[ 9.80627403e-01 -4.59824950e-02 -1.90408789e-01  1.31964848e+02]
 [ 4.84633719e-02  9.98789716e-01  8.39072286e-03 -3.65178630e+00]
 [ 1.89792514e-01 -1.74560247e-02  9.81669032e-01  2.52851618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.56486062399998 meters
Centerline goodness : 0.998471 with order 1
Centerline is valid?  [True, True]
Translation: X:132.02, Y:-3.65, Z:25.30
[[ 9.80622529e-01 -4.60781569e-02 -1.90410766e-01  1.32022735e+02]
 [ 4.85521210e-02  9.98785784e-01  8.34561873e-03 -3.65486500e+00]
 [ 1.89795015e-01 -1.74287483e-02  9.81669033e-01  2.52959810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.62486062399998 meters
Centerline goodness : 0.998451 with order 1
Centerline is valid?  [True, True]
Translation: X:132.08, Y:-3.66, Z:25.31
[[ 9.80572418e-01 -4.71302533e-02 -1.90411324e-01  1.32079958e+02]
 [ 4.96212486e-02  9.98733345e-01  8.33286657e-03 -3.65725800e+00]
 [ 1.89777409e-01 -1.76194268e-02  9.81669033e-01  2.53062666e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.68486062399998 meters
Centerline goodness : 0.998524 with order 1
Centerline is valid?  [True, True]
Translation: X:132.14, Y:-3.66, Z:25.32
[[ 9.80530703e-01 -4.79875587e-02 -1.90412011e-01  1.32137296e+02]
 [ 5.04914035e-02  9.98689863e-01  8.31713781e-03 -3.66016118e+00]
 [ 1.89763426e-01 -1.77693787e-02  9.81669033e-01  2.53166798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.74486062399998 meters
Centerline goodness : 0.998405 with order 1
Centerline is valid?  [True, True]
Translation: X:132.20, Y:-3.66, Z:25.33
[[ 9.80468257e-01 -4.92396807e-02 -1.90413893e-01  1.32195967e+02]
 [ 5.17583771e-02  9.98625362e-01  8.27382837e-03 -3.66251136e+00]
 [ 1.89744742e-01 -1.79677402e-02  9.81669034e-01  2.53283456e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.80486062399999 meters
Centerline goodness : 0.998215 with order 1
Centerline is valid?  [True, True]
Translation: X:132.25, Y:-3.66, Z:25.34
[[ 9.80453359e-01 -4.95354839e-02 -1.90413884e-01  1.32252939e+02]
 [ 5.20597005e-02  9.98609697e-01  8.27404791e-03 -3.66359314e+00]
 [ 1.89739292e-01 -1.80252078e-02  9.81669034e-01  2.53417215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.864860624 meters
Centerline goodness : 0.998466 with order 1
Centerline is valid?  [True, True]
Translation: X:132.31, Y:-3.66, Z:25.35
[[ 9.80606822e-01 -4.63961381e-02 -1.90414442e-01  1.32310956e+02]
 [ 4.88597349e-02  9.98771485e-01  8.26118868e-03 -3.66360698e+00]
 [ 1.89797227e-01 -1.74045771e-02  9.81669034e-01  2.53524858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.924860624 meters
Centerline goodness : 0.998452 with order 1
Centerline is valid?  [True, True]
Translation: X:132.37, Y:-3.66, Z:25.36
[[ 9.80846737e-01 -4.10113439e-02 -1.90414675e-01  1.32368716e+02]
 [ 4.33741337e-02  9.99024788e-01  8.25581553e-03 -3.66205074e+00]
 [ 1.89890398e-01 -1.63567613e-02  9.81669034e-01  2.53638109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 133.984860624 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:132.43, Y:-3.66, Z:25.38
[[ 9.81008378e-01 -3.69415052e-02 -1.90415038e-01  1.32427876e+02]
 [ 3.92272388e-02  9.99196279e-01  8.24743385e-03 -3.66229952e+00]
 [ 1.89957324e-01 -1.55602579e-02  9.81669034e-01  2.53758308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.044860624 meters
Centerline goodness : 0.998276 with order 1
Centerline is valid?  [True, True]
Translation: X:132.49, Y:-3.66, Z:25.39
[[ 9.81175675e-01 -3.21927684e-02 -1.90415126e-01  1.32486836e+02]
 [ 3.43900462e-02  9.99374474e-01  8.24538365e-03 -3.66178951e+00]
 [ 1.90030575e-01 -1.46385549e-02  9.81669035e-01  2.53885711e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.10486062399997 meters
Centerline goodness : 0.997958 with order 1
Centerline is valid?  [True, True]
Translation: X:132.55, Y:-3.66, Z:25.40
[[ 9.81262369e-01 -2.94302060e-02 -1.90415404e-01  1.32545024e+02]
 [ 3.15750007e-02  9.99467427e-01  8.23897477e-03 -3.66181146e+00]
 [ 1.90071519e-01 -1.40969624e-02  9.81669035e-01  2.53995478e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.16486062399997 meters
Centerline goodness : 0.998119 with order 1
Centerline is valid?  [True, True]
Translation: X:132.60, Y:-3.66, Z:25.41
[[ 9.81353590e-01 -2.62115590e-02 -1.90415559e-01  1.32604641e+02]
 [ 2.82959354e-02  9.99565665e-01  8.23537417e-03 -3.66190921e+00]
 [ 1.90116993e-01 -1.34698004e-02  9.81669035e-01  2.54099137e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.22486062399997 meters
Centerline goodness : 0.997901 with order 1
Centerline is valid?  [True, True]
Translation: X:132.66, Y:-3.66, Z:25.42
[[ 9.81417165e-01 -2.37110768e-02 -1.90415685e-01  1.32663822e+02]
 [ 2.57484836e-02  9.99634554e-01  8.23247351e-03 -3.66275908e+00]
 [ 1.90150897e-01 -1.29824060e-02  9.81669035e-01  2.54211991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.28486062399998 meters
Centerline goodness : 0.997956 with order 1
Centerline is valid?  [True, True]
Translation: X:132.72, Y:-3.66, Z:25.43
[[ 9.81499849e-01 -1.99965752e-02 -1.90415818e-01  1.32723034e+02]
 [ 2.19644242e-02  9.99724883e-01  8.22938589e-03 -3.66219081e+00]
 [ 1.90198872e-01 -1.22595148e-02  9.81669035e-01  2.54338472e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.34486062399998 meters
Centerline goodness : 0.998284 with order 1
Centerline is valid?  [True, True]
Translation: X:132.78, Y:-3.66, Z:25.45
[[ 9.81569679e-01 -1.62094603e-02 -1.90415909e-01  1.32780271e+02]
 [ 1.81065717e-02  9.99802212e-01  8.22729322e-03 -3.66266866e+00]
 [ 1.90244887e-01 -1.15234409e-02  9.81669035e-01  2.54465733e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.40486062399998 meters
Centerline goodness : 0.998285 with order 1
Centerline is valid?  [True, True]
Translation: X:132.84, Y:-3.66, Z:25.46
[[ 9.81581835e-01 -1.54509758e-02 -1.90416303e-01  1.32837555e+02]
 [ 1.73322342e-02  9.99816011e-01  8.21816828e-03 -3.66453604e+00]
 [ 1.90254289e-01 -1.13671446e-02  9.81669035e-01  2.54577574e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.46486062399998 meters
Centerline goodness : 0.998106 with order 1
Centerline is valid?  [True, True]
Translation: X:132.90, Y:-3.67, Z:25.47
[[ 9.81612645e-01 -1.33431200e-02 -1.90416851e-01  1.32896854e+02]
 [ 1.51827582e-02  9.99851066e-01  8.20544334e-03 -3.66530667e+00]
 [ 1.90279005e-01 -1.09456199e-02  9.81669035e-01  2.54702676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.52486062399998 meters
Centerline goodness : 0.997858 with order 1
Centerline is valid?  [True, True]
Translation: X:132.95, Y:-3.67, Z:25.48
[[ 9.81631296e-01 -1.18916306e-02 -1.90416877e-01  1.32953008e+02]
 [ 1.37041795e-02  9.99872430e-01  8.20482892e-03 -3.66641229e+00]
 [ 1.90295017e-01 -1.06636239e-02  9.81669035e-01  2.54803865e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.584860624 meters
Centerline goodness : 0.998533 with order 1
Centerline is valid?  [True, True]
Translation: X:133.01, Y:-3.67, Z:25.49
[[ 9.81661960e-01 -8.99283163e-03 -1.90417764e-01  1.33011743e+02]
 [ 1.07475157e-02  9.99908751e-01  8.18419570e-03 -3.66780877e+00]
 [ 1.90326790e-01 -1.00806315e-02  9.81669035e-01  2.54936836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.644860624 meters
Centerline goodness : 0.998652 with order 1
Centerline is valid?  [True, True]
Translation: X:133.07, Y:-3.67, Z:25.50
[[ 9.81684347e-01 -6.06732856e-03 -1.90418044e-01  1.33068705e+02]
 [ 7.76636844e-03  9.99936402e-01  8.17768951e-03 -3.66858926e+00]
 [ 1.90356317e-01 -9.50676647e-03  9.81669035e-01  2.55032531e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.704860624 meters
Centerline goodness : 0.998056 with order 1
Centerline is valid?  [True, True]
Translation: X:133.13, Y:-3.67, Z:25.52
[[ 9.81696658e-01 -3.52015566e-03 -1.90418697e-01  1.33127290e+02]
 [ 5.16888358e-03  9.99953327e-01  8.16245676e-03 -3.67054272e+00]
 [ 1.90381076e-01 -8.99730860e-03  9.81669035e-01  2.55159202e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.764860624 meters
Centerline goodness : 0.998768 with order 1
Centerline is valid?  [True, True]
Translation: X:133.18, Y:-3.67, Z:25.53
[[ 9.81702895e-01  3.49712851e-04 -1.90418756e-01  1.33184636e+02]
 [ 1.22676477e-03  9.99965945e-01  8.16106302e-03 -3.67300247e+00]
 [ 1.90415126e-01 -8.24533822e-03  9.81669035e-01  2.55268605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.824860624 meters
Centerline goodness : 0.998592 with order 1
Centerline is valid?  [True, True]
Translation: X:133.24, Y:-3.67, Z:25.54
[[ 9.81697350e-01  3.29490437e-03 -1.90419162e-01  1.33242519e+02]
 [-1.77506141e-03  9.99965200e-01  8.15157782e-03 -3.67491679e+00]
 [ 1.90439394e-01 -7.66437663e-03  9.81669035e-01  2.55356676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.88486062399997 meters
Centerline goodness : 0.998569 with order 1
Centerline is valid?  [True, True]
Translation: X:133.30, Y:-3.68, Z:25.55
[[ 9.81674524e-01  7.45124771e-03 -1.90419558e-01  1.33300266e+02]
 [-6.01055466e-03  9.99948787e-01  8.14232393e-03 -3.67804888e+00]
 [ 1.90470477e-01 -6.84858480e-03  9.81669035e-01  2.55499320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 134.94486062399997 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:133.36, Y:-3.68, Z:25.56
[[ 9.81655699e-01  9.61145812e-03 -1.90419824e-01  1.33358765e+02]
 [-8.21218870e-03  9.99933180e-01  8.13609638e-03 -3.68164564e+00]
 [ 1.90485300e-01 -6.42308185e-03  9.81669035e-01  2.55602617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.00486062399997 meters
Centerline goodness : 0.998449 with order 1
Centerline is valid?  [True, True]
Translation: X:133.42, Y:-3.68, Z:25.57
[[ 9.81638039e-01  1.12671232e-02 -1.90420092e-01  1.33416359e+02]
 [-9.89989761e-03  9.99917946e-01  8.12982802e-03 -3.68480789e+00]
 [ 1.90496067e-01 -6.09540903e-03  9.81669035e-01  2.55718603e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.06486062399998 meters
Centerline goodness : 0.998505 with order 1
Centerline is valid?  [True, True]
Translation: X:133.47, Y:-3.69, Z:25.58
[[ 9.81625111e-01  1.23127901e-02 -1.90421994e-01  1.33472607e+02]
 [-1.09737188e-02  9.99907101e-01  8.08503404e-03 -3.68862401e+00]
 [ 1.90503853e-01 -5.84683502e-03  9.81669036e-01  2.55809717e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.12486062399998 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:133.53, Y:-3.69, Z:25.59
[[ 9.81630356e-01  1.18638941e-02 -1.90423456e-01  1.33529866e+02]
 [-1.05231663e-02  9.99912223e-01  8.05044348e-03 -3.69278202e+00]
 [ 1.90502251e-01 -5.89870201e-03  9.81669037e-01  2.55928609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.18486062399998 meters
Centerline goodness : 0.998339 with order 1
Centerline is valid?  [True, True]
Translation: X:133.59, Y:-3.70, Z:25.60
[[ 9.81634546e-01  1.14817791e-02 -1.90425277e-01  1.33586753e+02]
 [-1.01423270e-02  9.99916506e-01  8.00714020e-03 -3.69812246e+00]
 [ 1.90501314e-01 -5.92873001e-03  9.81669038e-01  2.56042449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.24486062399998 meters
Centerline goodness : 0.998490 with order 1
Centerline is valid?  [True, True]
Translation: X:133.64, Y:-3.70, Z:25.62
[[ 9.81640870e-01  1.09166499e-02 -1.90425916e-01  1.33644760e+02]
 [-9.56962302e-03  9.99922273e-01  7.99191814e-03 -3.70247115e+00]
 [ 1.90498360e-01 -6.02288924e-03  9.81669038e-01  2.56158352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.30486062399999 meters
Centerline goodness : 0.998225 with order 1
Centerline is valid?  [True, True]
Translation: X:133.70, Y:-3.71, Z:25.63
[[ 9.81654620e-01  9.56854487e-03 -1.90427544e-01  1.33700993e+02]
 [-8.20396657e-03  9.99934721e-01  7.95293854e-03 -3.70786129e+00]
 [ 1.90491211e-01 -6.24477765e-03  9.81669038e-01  2.56264706e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.364860624 meters
Centerline goodness : 0.998142 with order 1
Centerline is valid?  [True, True]
Translation: X:133.76, Y:-3.71, Z:25.64
[[ 9.81683124e-01  5.90106392e-03 -1.90429573e-01  1.33759364e+02]
 [-4.47767089e-03  9.99958737e-01  7.90405845e-03 -3.71474829e+00]
 [ 1.90468358e-01 -6.90659983e-03  9.81669040e-01  2.56406466e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.424860624 meters
Centerline goodness : 0.998132 with order 1
Centerline is valid?  [True, True]
Translation: X:133.82, Y:-3.72, Z:25.65
[[ 9.81696233e-01  3.01095427e-03 -1.90429620e-01  1.33815596e+02]
 [-1.53397904e-03  9.99967595e-01  7.90294734e-03 -3.72055085e+00]
 [ 1.90447244e-01 -7.46617859e-03  9.81669040e-01  2.56506561e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.484860624 meters
Centerline goodness : 0.998175 with order 1
Centerline is valid?  [True, True]
Translation: X:133.87, Y:-3.73, Z:25.66
[[ 9.81700313e-01 -8.68123217e-04 -1.90430413e-01  1.33873754e+02]
 [ 2.41357342e-03  9.99966010e-01  7.88378308e-03 -3.72837787e+00]
 [ 1.90417096e-01 -8.19913010e-03  9.81669040e-01  2.56620870e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.544860624 meters
Centerline goodness : 0.998380 with order 1
Centerline is valid?  [True, True]
Translation: X:133.93, Y:-3.74, Z:25.67
[[ 9.81690635e-01 -4.43926013e-03 -1.90430538e-01  1.33931567e+02]
 [ 6.05055855e-03  9.99950641e-01  7.88075098e-03 -3.73515282e+00]
 [ 1.90386154e-01 -8.88867055e-03  9.81669040e-01  2.56730834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.60486062399997 meters
Centerline goodness : 0.998160 with order 1
Centerline is valid?  [True, True]
Translation: X:133.99, Y:-3.74, Z:25.68
[[ 9.81661429e-01 -8.76925363e-03 -1.90430931e-01  1.33988817e+02]
 [ 1.04592401e-02  9.99914320e-01  7.87125424e-03 -3.74072183e+00]
 [ 1.90345590e-01 -9.71866951e-03  9.81669040e-01  2.56825733e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.66486062399997 meters
Centerline goodness : 0.998219 with order 1
Centerline is valid?  [True, True]
Translation: X:134.05, Y:-3.75, Z:25.69
[[ 9.81595356e-01 -1.43656404e-02 -1.90431575e-01  1.34048439e+02]
 [ 1.61566422e-02  9.99838613e-01  7.85564587e-03 -3.74561852e+00]
 [ 1.90287990e-01 -1.07878003e-02  9.81669040e-01  2.56940797e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.72486062399997 meters
Centerline goodness : 0.998132 with order 1
Centerline is valid?  [True, True]
Translation: X:134.11, Y:-3.75, Z:25.70
[[ 9.81526047e-01 -1.85045524e-02 -1.90431618e-01  1.34107195e+02]
 [ 2.03722626e-02  9.99761610e-01  7.85460582e-03 -3.74907565e+00]
 [ 1.90240875e-01 -1.15890231e-02  9.81669040e-01  2.57046148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.78486062399998 meters
Centerline goodness : 0.998025 with order 1
Centerline is valid?  [True, True]
Translation: X:134.17, Y:-3.75, Z:25.72
[[ 9.81437221e-01 -2.27317548e-02 -1.90431743e-01  1.34166515e+02]
 [ 2.46774020e-02  9.99664633e-01  7.85157731e-03 -3.75303417e+00]
 [ 1.90189398e-01 -1.24051909e-02  9.81669040e-01  2.57167917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.84486062399998 meters
Centerline goodness : 0.998556 with order 1
Centerline is valid?  [True, True]
Translation: X:134.23, Y:-3.76, Z:25.73
[[ 9.81321550e-01 -2.72718698e-02 -1.90431774e-01  1.34225563e+02]
 [ 2.93016716e-02  9.99539783e-01  7.85080657e-03 -3.75615900e+00]
 [ 1.90130028e-01 -1.32841350e-02  9.81669040e-01  2.57279588e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.90486062399998 meters
Centerline goodness : 0.998075 with order 1
Centerline is valid?  [True, True]
Translation: X:134.28, Y:-3.76, Z:25.74
[[ 9.81161492e-01 -3.25248498e-02 -1.90431775e-01  1.34284423e+02]
 [ 3.46521500e-02  9.99368597e-01  7.85079946e-03 -3.75911606e+00]
 [ 1.90056190e-01 -1.43017725e-02  9.81669040e-01  2.57399645e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 135.96486062399998 meters
Centerline goodness : 0.998307 with order 1
Centerline is valid?  [True, True]
Translation: X:134.34, Y:-3.76, Z:25.75
[[ 9.81034143e-01 -3.61621942e-02 -1.90431891e-01  1.34342741e+02]
 [ 3.83564377e-02  9.99233303e-01  7.84798299e-03 -3.76050915e+00]
 [ 1.90002087e-01 -1.50034282e-02  9.81669040e-01  2.57519555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.02486062399998 meters
Centerline goodness : 0.998320 with order 1
Centerline is valid?  [True, True]
Translation: X:134.40, Y:-3.76, Z:25.76
[[ 9.80996216e-01 -3.71762772e-02 -1.90432004e-01  1.34400775e+02]
 [ 3.93888021e-02  9.99193162e-01  7.84523498e-03 -3.76085117e+00]
 [ 1.89986700e-01 -1.51970344e-02  9.81669040e-01  2.57638924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.084860624 meters
Centerline goodness : 0.998661 with order 1
Centerline is valid?  [True, True]
Translation: X:134.46, Y:-3.76, Z:25.77
[[ 9.80994743e-01 -3.72131315e-02 -1.90432396e-01  1.34457425e+02]
 [ 3.94245028e-02  9.99191829e-01  7.83570988e-03 -3.76044105e+00]
 [ 1.89986903e-01 -1.51944927e-02  9.81669040e-01  2.57741937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.144860624 meters
Centerline goodness : 0.998423 with order 1
Centerline is valid?  [True, True]
Translation: X:134.52, Y:-3.76, Z:25.78
[[ 9.80991961e-01 -3.72831189e-02 -1.90433039e-01  1.34516154e+02]
 [ 3.94927691e-02  9.99189255e-01  7.82005696e-03 -3.75866470e+00]
 [ 1.89987090e-01 -1.51921410e-02  9.81669040e-01  2.57846897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.204860624 meters
Centerline goodness : 0.997972 with order 1
Centerline is valid?  [True, True]
Translation: X:134.57, Y:-3.76, Z:25.79
[[ 9.80972480e-01 -3.77909160e-02 -1.90433296e-01  1.34573486e+02]
 [ 4.00087780e-02  9.99168776e-01  7.81379589e-03 -3.75821370e+00]
 [ 1.89979712e-01 -1.52841222e-02  9.81669040e-01  2.57941916e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.264860624 meters
Centerline goodness : 0.998306 with order 1
Centerline is valid?  [True, True]
Translation: X:134.63, Y:-3.76, Z:25.81
[[ 9.80920996e-01 -3.91014011e-02 -1.90433928e-01  1.34632519e+02]
 [ 4.13405918e-02  9.99114679e-01  7.79835097e-03 -3.75554659e+00]
 [ 1.89960406e-01 -1.55222175e-02  9.81669040e-01  2.58063705e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.324860624 meters
Centerline goodness : 0.998300 with order 1
Centerline is valid?  [True, True]
Translation: X:134.69, Y:-3.76, Z:25.82
[[ 9.80894860e-01 -3.97516034e-02 -1.90433935e-01  1.34689701e+02]
 [ 4.20028218e-02  9.99087059e-01  7.79818723e-03 -3.75574407e+00]
 [ 1.89950089e-01 -1.56479644e-02  9.81669040e-01  2.58175702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.38486062399997 meters
Centerline goodness : 0.998552 with order 1
Centerline is valid?  [True, True]
Translation: X:134.75, Y:-3.75, Z:25.83
[[ 9.80792886e-01 -4.21848681e-02 -1.90435690e-01  1.34747862e+02]
 [ 4.44729008e-02  9.98980490e-01  7.75508292e-03 -3.75384911e+00]
 [ 1.89914392e-01 -1.60753577e-02  9.81669041e-01  2.58256993e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.44486062399997 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:134.81, Y:-3.75, Z:25.84
[[ 9.80749367e-01 -4.31771455e-02 -1.90437427e-01  1.34807131e+02]
 [ 4.54753125e-02  9.98935693e-01  7.71220342e-03 -3.75346633e+00]
 [ 1.89901752e-01 -1.62239401e-02  9.81669042e-01  2.58374413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.50486062399997 meters
Centerline goodness : 0.998536 with order 1
Centerline is valid?  [True, True]
Translation: X:134.86, Y:-3.75, Z:25.85
[[ 9.80727705e-01 -4.36662470e-02 -1.90437463e-01  1.34864474e+02]
 [ 4.59733116e-02  9.98912904e-01  7.71131223e-03 -3.74962100e+00]
 [ 1.89893715e-01 -1.63177384e-02  9.81669042e-01  2.58501892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.56486062399998 meters
Centerline goodness : 0.998572 with order 1
Centerline is valid?  [True, True]
Translation: X:134.92, Y:-3.75, Z:25.86
[[ 9.80759001e-01 -4.29553789e-02 -1.90437962e-01  1.34923060e+02]
 [ 4.52468811e-02  9.98946168e-01  7.69896262e-03 -3.74673938e+00]
 [ 1.89906561e-01 -1.61675507e-02  9.81669042e-01  2.58609156e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.62486062399998 meters
Centerline goodness : 0.998516 with order 1
Centerline is valid?  [True, True]
Translation: X:134.98, Y:-3.75, Z:25.87
[[ 9.80790703e-01 -4.22242366e-02 -1.90438209e-01  1.34981774e+02]
 [ 4.45010038e-02  9.98979720e-01  7.69286167e-03 -3.74523866e+00]
 [ 1.89919083e-01 -1.60197787e-02  9.81669042e-01  2.58723405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.68486062399998 meters
Centerline goodness : 0.998474 with order 1
Centerline is valid?  [True, True]
Translation: X:135.04, Y:-3.74, Z:25.88
[[ 9.80879391e-01 -4.01100247e-02 -1.90438457e-01  1.35040482e+02]
 [ 4.23463949e-02  9.99073419e-01  7.68671697e-03 -3.74054762e+00]
 [ 1.89953686e-01 -1.56041244e-02  9.81669042e-01  2.58842839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.74486062399998 meters
Centerline goodness : 0.998641 with order 1
Centerline is valid?  [True, True]
Translation: X:135.10, Y:-3.74, Z:25.89
[[ 9.80941664e-01 -3.85558018e-02 -1.90438707e-01  1.35098953e+02]
 [ 4.07621441e-02  9.99139358e-01  7.68050986e-03 -3.73920981e+00]
 [ 1.89978680e-01 -1.52968221e-02  9.81669042e-01  2.58934850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.80486062399999 meters
Centerline goodness : 0.998707 with order 1
Centerline is valid?  [True, True]
Translation: X:135.16, Y:-3.74, Z:25.90
[[ 9.80943982e-01 -3.84960750e-02 -1.90438854e-01  1.35157241e+02]
 [ 4.07006079e-02  9.99141895e-01  7.67687349e-03 -3.73509759e+00]
 [ 1.89979908e-01 -1.52815600e-02  9.81669042e-01  2.59028153e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.864860624 meters
Centerline goodness : 0.998674 with order 1
Centerline is valid?  [True, True]
Translation: X:135.21, Y:-3.73, Z:25.92
[[ 9.80875198e-01 -4.02025009e-02 -1.90440557e-01  1.35214251e+02]
 [ 4.24304976e-02  9.99070252e-01  7.63440311e-03 -3.73283863e+00]
 [ 1.89956573e-01 -1.55688842e-02  9.81669043e-01  2.59158520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.924860624 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:135.27, Y:-3.73, Z:25.93
[[ 9.80708871e-01 -4.40661271e-02 -1.90442344e-01  1.35272887e+02]
 [ 4.63571388e-02  9.98896098e-01  7.58956657e-03 -3.73032149e+00]
 [ 1.89897671e-01 -1.62715174e-02  9.81669044e-01  2.59264812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 136.984860624 meters
Centerline goodness : 0.998715 with order 1
Centerline is valid?  [True, True]
Translation: X:135.33, Y:-3.73, Z:25.94
[[ 9.80550773e-01 -4.74541271e-02 -1.90442345e-01  1.35330580e+02]
 [ 4.98079539e-02  9.98729977e-01  7.58953293e-03 -3.72914882e+00]
 [ 1.89840324e-01 -1.69274659e-02  9.81669044e-01  2.59374481e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.044860624 meters
Centerline goodness : 0.999089 with order 1
Centerline is valid?  [True, True]
Translation: X:135.39, Y:-3.73, Z:25.95
[[ 9.80367992e-01 -5.10847298e-02 -1.90444090e-01  1.35389681e+02]
 [ 5.34973767e-02  9.98539481e-01  7.54550138e-03 -3.72566015e+00]
 [ 1.89780483e-01 -1.75856272e-02  9.81669045e-01  2.59471148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.10486062399997 meters
Centerline goodness : 0.999286 with order 1
Centerline is valid?  [True, True]
Translation: X:135.45, Y:-3.72, Z:25.96
[[ 9.80287484e-01 -5.26070662e-02 -1.90444073e-01  1.35448346e+02]
 [ 5.50480082e-02  9.98455195e-01  7.54591576e-03 -3.72436983e+00]
 [ 1.89752906e-01 -1.78807337e-02  9.81669045e-01  2.59579511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.16486062399997 meters
Centerline goodness : 0.998849 with order 1
Centerline is valid?  [True, True]
Translation: X:135.51, Y:-3.72, Z:25.97
[[ 9.80245394e-01 -5.33847175e-02 -1.90444322e-01  1.35505450e+02]
 [ 5.58388618e-02  9.98411326e-01  7.53963406e-03 -3.72166017e+00]
 [ 1.89739267e-01 -1.80248857e-02  9.81669045e-01  2.59674719e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.22486062399997 meters
Centerline goodness : 0.999384 with order 1
Centerline is valid?  [True, True]
Translation: X:135.56, Y:-3.72, Z:25.98
[[ 9.80230756e-01 -5.36506345e-02 -1.90444936e-01  1.35564801e+02]
 [ 5.61067146e-02  9.98396427e-01  7.52409371e-03 -3.71884627e+00]
 [ 1.89735871e-01 -1.80605877e-02  9.81669045e-01  2.59799936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.28486062399998 meters
Centerline goodness : 0.999357 with order 1
Centerline is valid?  [True, True]
Translation: X:135.62, Y:-3.72, Z:25.99
[[ 9.80266240e-01 -5.29983501e-02 -1.90444936e-01  1.35623342e+02]
 [ 5.54423418e-02  9.98433540e-01  7.52409371e-03 -3.71823477e+00]
 [ 1.89747847e-01 -1.79343283e-02  9.81669045e-01  2.59916984e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.34486062399998 meters
Centerline goodness : 0.999198 with order 1
Centerline is valid?  [True, True]
Translation: X:135.68, Y:-3.72, Z:26.01
[[ 9.80348197e-01 -5.14591378e-02 -1.90445189e-01  1.35682188e+02]
 [ 5.38733665e-02  9.98519476e-01  7.51768205e-03 -3.71539459e+00]
 [ 1.89776377e-01 -1.76298695e-02  9.81669045e-01  2.60051998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.40486062399998 meters
Centerline goodness : 0.999326 with order 1
Centerline is valid?  [True, True]
Translation: X:135.74, Y:-3.71, Z:26.02
[[ 9.80405845e-01 -5.03475840e-02 -1.90445529e-01  1.35740261e+02]
 [ 5.27395462e-02  9.98580069e-01  7.50905233e-03 -3.71386937e+00]
 [ 1.89797047e-01 -1.74059296e-02  9.81669045e-01  2.60175258e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.46486062399998 meters
Centerline goodness : 0.999116 with order 1
Centerline is valid?  [True, True]
Translation: X:135.80, Y:-3.71, Z:26.03
[[ 9.80422050e-01 -5.00300724e-02 -1.90445783e-01  1.35797201e+02]
 [ 5.24149093e-02  9.98597210e-01  7.50261880e-03 -3.71448168e+00]
 [ 1.89803271e-01 -1.73379313e-02  9.81669045e-01  2.60272407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.52486062399998 meters
Centerline goodness : 0.999204 with order 1
Centerline is valid?  [True, True]
Translation: X:135.86, Y:-3.71, Z:26.03
[[ 9.80493312e-01 -4.86110154e-02 -1.90446406e-01  1.35856355e+02]
 [ 5.09664901e-02  9.98672301e-01  7.48676791e-03 -3.71408875e+00]
 [ 1.89829611e-01 -1.70471107e-02  9.81669045e-01  2.60321130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.584860624 meters
Centerline goodness : 0.999346 with order 1
Centerline is valid?  [True, True]
Translation: X:135.91, Y:-3.71, Z:26.05
[[ 9.80449143e-01 -4.94932822e-02 -1.90446561e-01  1.35914036e+02]
 [ 5.18643516e-02  9.98626105e-01  7.48281015e-03 -3.71452574e+00]
 [ 1.89814559e-01 -1.72139022e-02  9.81669045e-01  2.60451533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.644860624 meters
Centerline goodness : 0.999321 with order 1
Centerline is valid?  [True, True]
Translation: X:135.97, Y:-3.71, Z:26.06
[[ 9.80515631e-01 -4.81515161e-02 -1.90448231e-01  1.35971887e+02]
 [ 5.04894717e-02  9.98696880e-01  7.44006581e-03 -3.71473855e+00]
 [ 1.89841804e-01 -1.69107314e-02  9.81669046e-01  2.60572608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.704860624 meters
Centerline goodness : 0.999213 with order 1
Centerline is valid?  [True, True]
Translation: X:136.03, Y:-3.72, Z:26.07
[[ 9.80563911e-01 -4.71510923e-02 -1.90449971e-01  1.36029558e+02]
 [ 4.94618640e-02  9.98748634e-01  7.39527459e-03 -3.71562791e+00]
 [ 1.89862953e-01 -1.66715499e-02  9.81669047e-01  2.60699900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.764860624 meters
Centerline goodness : 0.999317 with order 1
Centerline is valid?  [True, True]
Translation: X:136.09, Y:-3.72, Z:26.08
[[ 9.80682543e-01 -4.46087264e-02 -1.90451600e-01  1.36087497e+02]
 [ 4.68642122e-02  9.98874205e-01  7.35309444e-03 -3.71724470e+00]
 [ 1.89909178e-01 -1.61364155e-02  9.81669048e-01  2.60824907e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.82486062399997 meters
Centerline goodness : 0.999475 with order 1
Centerline is valid?  [True, True]
Translation: X:136.15, Y:-3.72, Z:26.09
[[ 9.80791413e-01 -4.21466030e-02 -1.90451746e-01  1.36145974e+02]
 [ 4.43556806e-02  9.98988769e-01  7.34930303e-03 -3.71969901e+00]
 [ 1.89949407e-01 -1.56557501e-02  9.81669048e-01  2.60941831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.88486062399997 meters
Centerline goodness : 0.999316 with order 1
Centerline is valid?  [True, True]
Translation: X:136.20, Y:-3.72, Z:26.10
[[ 9.80893494e-01 -3.96987279e-02 -1.90451999e-01  1.36204484e+02]
 [ 4.18611186e-02  9.99096457e-01  7.34274529e-03 -3.72184556e+00]
 [ 1.89988420e-01 -1.51749848e-02  9.81669048e-01  2.61039469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 137.94486062399997 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:136.26, Y:-3.73, Z:26.11
[[ 9.80944455e-01 -3.84181808e-02 -1.90452143e-01  1.36263205e+02]
 [ 4.05560819e-02  9.99150311e-01  7.33898999e-03 -3.72512296e+00]
 [ 1.90008368e-01 -1.49231343e-02  9.81669048e-01  2.61147626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.00486062399997 meters
Centerline goodness : 0.999527 with order 1
Centerline is valid?  [True, True]
Translation: X:136.32, Y:-3.73, Z:26.13
[[ 9.80955622e-01 -3.81313765e-02 -1.90452265e-01  1.36320965e+02]
 [ 4.02633456e-02  9.99162173e-01  7.33583416e-03 -3.72769401e+00]
 [ 1.90012974e-01 -1.48643731e-02  9.81669048e-01  2.61255299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.06486062399998 meters
Centerline goodness : 0.999502 with order 1
Centerline is valid?  [True, True]
Translation: X:136.38, Y:-3.73, Z:26.14
[[ 9.80944788e-01 -3.84007636e-02 -1.90453944e-01  1.36377773e+02]
 [ 4.05292721e-02  9.99151743e-01  7.29199024e-03 -3.72979144e+00]
 [ 1.90012372e-01 -1.48719995e-02  9.81669049e-01  2.61357793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.12486062399998 meters
Centerline goodness : 0.999475 with order 1
Centerline is valid?  [True, True]
Translation: X:136.43, Y:-3.73, Z:26.15
[[ 9.80927262e-01 -3.88429737e-02 -1.90454534e-01  1.36434992e+02]
 [ 4.09767093e-02  9.99133605e-01  7.27654503e-03 -3.73133717e+00]
 [ 1.90006883e-01 -1.49419615e-02  9.81669049e-01  2.61466876e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.18486062399998 meters
Centerline goodness : 0.999421 with order 1
Centerline is valid?  [True, True]
Translation: X:136.49, Y:-3.73, Z:26.16
[[ 9.80921867e-01 -3.89761451e-02 -1.90455114e-01  1.36493758e+02]
 [ 4.11094150e-02  9.99128265e-01  7.26132199e-03 -3.73271224e+00]
 [ 1.90006070e-01 -1.49522879e-02  9.81669049e-01  2.61584214e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.24486062399998 meters
Centerline goodness : 0.999448 with order 1
Centerline is valid?  [True, True]
Translation: X:136.55, Y:-3.73, Z:26.17
[[ 9.80934807e-01 -3.86485292e-02 -1.90455230e-01  1.36553067e+02]
 [ 4.07751322e-02  9.99141985e-01  7.25828447e-03 -3.73388054e+00]
 [ 1.90011295e-01 -1.48857411e-02  9.81669049e-01  2.61707579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.30486062399999 meters
Centerline goodness : 0.999420 with order 1
Centerline is valid?  [True, True]
Translation: X:136.61, Y:-3.73, Z:26.18
[[ 9.80955183e-01 -3.81277438e-02 -1.90455254e-01  1.36611547e+02]
 [ 4.02445612e-02  9.99163501e-01  7.25766763e-03 -3.73493243e+00]
 [ 1.90019220e-01 -1.47842348e-02  9.81669049e-01  2.61817978e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.364860624 meters
Centerline goodness : 0.999499 with order 1
Centerline is valid?  [True, True]
Translation: X:136.67, Y:-3.74, Z:26.19
[[ 9.80991665e-01 -3.71760438e-02 -1.90455495e-01  1.36669840e+02]
 [ 3.92739702e-02  9.99202169e-01  7.25132059e-03 -3.73538999e+00]
 [ 1.90033969e-01 -1.45934285e-02  9.81669049e-01  2.61911739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.424860624 meters
Centerline goodness : 0.999259 with order 1
Centerline is valid?  [True, True]
Translation: X:136.73, Y:-3.74, Z:26.20
[[ 9.80969830e-01 -3.77465966e-02 -1.90455735e-01  1.36727349e+02]
 [ 3.98539002e-02  9.99179251e-01  7.24503016e-03 -3.73619663e+00]
 [ 1.90025943e-01 -1.46975598e-02  9.81669049e-01  2.62027943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.484860624 meters
Centerline goodness : 0.999630 with order 1
Centerline is valid?  [True, True]
Translation: X:136.79, Y:-3.74, Z:26.21
[[ 9.80884625e-01 -3.98912939e-02 -1.90457444e-01  1.36785904e+02]
 [ 4.20296820e-02  9.99090421e-01  7.19981958e-03 -3.73690059e+00]
 [ 1.89996998e-01 -1.50670581e-02  9.81669050e-01  2.62130348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.544860624 meters
Centerline goodness : 0.999391 with order 1
Centerline is valid?  [True, True]
Translation: X:136.84, Y:-3.74, Z:26.22
[[ 9.80788727e-01 -4.21817039e-02 -1.90457809e-01  1.36844214e+02]
 [ 4.43607321e-02  9.98989703e-01  7.19013868e-03 -3.73878527e+00]
 [ 1.89962098e-01 -1.55008548e-02  9.81669051e-01  2.62210718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.60486062399997 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:136.90, Y:-3.74, Z:26.23
[[ 9.80609763e-01 -4.61543601e-02 -1.90458049e-01  1.36904003e+02]
 [ 4.84058733e-02  9.98801915e-01  7.18377981e-03 -3.74017753e+00]
 [ 1.89898301e-01 -1.62637728e-02  9.81669051e-01  2.62308625e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.66486062399997 meters
Centerline goodness : 0.999524 with order 1
Centerline is valid?  [True, True]
Translation: X:136.96, Y:-3.74, Z:26.24
[[ 9.80480512e-01 -4.88227773e-02 -1.90458138e-01  1.36963313e+02]
 [ 5.11233354e-02  9.98666527e-01  7.18142400e-03 -3.74167677e+00]
 [ 1.89853550e-01 -1.67781015e-02  9.81669051e-01  2.62423010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.72486062399997 meters
Centerline goodness : 0.999447 with order 1
Centerline is valid?  [True, True]
Translation: X:137.02, Y:-3.74, Z:26.25
[[ 9.80295527e-01 -5.24058401e-02 -1.90458151e-01  1.37021891e+02]
 [ 5.47727804e-02  9.98473022e-01  7.18107399e-03 -3.74263686e+00]
 [ 1.89790996e-01 -1.74714972e-02  9.81669051e-01  2.62542530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.78486062399998 meters
Centerline goodness : 0.999418 with order 1
Centerline is valid?  [True, True]
Translation: X:137.08, Y:-3.74, Z:26.27
[[ 9.80217457e-01 -5.38460942e-02 -1.90458225e-01  1.37079392e+02]
 [ 5.62393632e-02  9.98391503e-01  7.17912114e-03 -3.74442837e+00]
 [ 1.89765306e-01 -1.77483492e-02  9.81669051e-01  2.62651443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.84486062399998 meters
Centerline goodness : 0.999603 with order 1
Centerline is valid?  [True, True]
Translation: X:137.14, Y:-3.75, Z:26.28
[[ 9.80139871e-01 -5.52346334e-02 -1.90459889e-01  1.37138038e+02]
 [ 5.76450910e-02  9.98311644e-01  7.13470081e-03 -3.74561709e+00]
 [ 1.89744242e-01 -1.79720824e-02  9.81669052e-01  2.62784614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.90486062399998 meters
Centerline goodness : 0.999550 with order 1
Centerline is valid?  [True, True]
Translation: X:137.20, Y:-3.75, Z:26.29
[[ 9.80090208e-01 -5.61085473e-02 -1.90460011e-01  1.37197279e+02]
 [ 5.85345812e-02  9.98259909e-01  7.13145218e-03 -3.74740534e+00]
 [ 1.89728457e-01 -1.81379634e-02  9.81669052e-01  2.62914110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 138.96486062399998 meters
Centerline goodness : 0.999496 with order 1
Centerline is valid?  [True, True]
Translation: X:137.26, Y:-3.75, Z:26.30
[[ 9.80057308e-01 -5.66803069e-02 -1.90460011e-01  1.37255060e+02]
 [ 5.91169402e-02  9.98225591e-01  7.13145218e-03 -3.74910833e+00]
 [ 1.89717844e-01 -1.82486449e-02  9.81669052e-01  2.63025113e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.02486062399998 meters
Centerline goodness : 0.999683 with order 1
Centerline is valid?  [True, True]
Translation: X:137.31, Y:-3.75, Z:26.31
[[ 9.79963104e-01 -5.82855647e-02 -1.90460254e-01  1.37314003e+02]
 [ 6.07507004e-02  9.98127541e-01  7.12493829e-03 -3.75156337e+00]
 [ 1.89688344e-01 -1.85527705e-02  9.81669052e-01  2.63134684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.084860624 meters
Centerline goodness : 0.999737 with order 1
Centerline is valid?  [True, True]
Translation: X:137.37, Y:-3.76, Z:26.32
[[ 9.79825339e-01 -6.05570010e-02 -1.90460375e-01  1.37373566e+02]
 [ 6.30636169e-02  9.97984099e-01  7.12172131e-03 -3.75674808e+00]
 [ 1.89645155e-01 -1.89891631e-02  9.81669052e-01  2.63221246e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.144860624 meters
Centerline goodness : 0.999685 with order 1
Centerline is valid?  [True, True]
Translation: X:137.43, Y:-3.76, Z:26.33
[[ 9.79729064e-01 -6.20949660e-02 -1.90460434e-01  1.37432846e+02]
 [ 6.46297770e-02  9.97883909e-01  7.12013232e-03 -3.76008307e+00]
 [ 1.89615278e-01 -1.92852159e-02  9.81669052e-01  2.63321484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.204860624 meters
Centerline goodness : 0.999659 with order 1
Centerline is valid?  [True, True]
Translation: X:137.49, Y:-3.76, Z:26.35
[[ 9.79680842e-01 -6.28511806e-02 -1.90460434e-01  1.37491926e+02]
 [ 6.54000042e-02  9.97833725e-01  7.12013232e-03 -3.76485997e+00]
 [ 1.89600336e-01 -1.94315704e-02  9.81669052e-01  2.63453081e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.264860624 meters
Centerline goodness : 0.999738 with order 1
Centerline is valid?  [True, True]
Translation: X:137.55, Y:-3.77, Z:26.36
[[ 9.79690041e-01 -6.27076233e-02 -1.90460434e-01  1.37551616e+02]
 [ 6.52537869e-02  9.97843298e-01  7.12013232e-03 -3.76986068e+00]
 [ 1.89603181e-01 -1.94037873e-02  9.81669052e-01  2.63588095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.32486062399997 meters
Centerline goodness : 0.999634 with order 1
Centerline is valid?  [True, True]
Translation: X:137.61, Y:-3.77, Z:26.37
[[ 9.79697999e-01 -6.25839242e-02 -1.90460189e-01  1.37610427e+02]
 [ 6.51290553e-02  9.97851400e-01  7.12667968e-03 -3.77381547e+00]
 [ 1.89604951e-01 -1.93864860e-02  9.81669052e-01  2.63713390e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.38486062399997 meters
Centerline goodness : 0.999611 with order 1
Centerline is valid?  [True, True]
Translation: X:137.67, Y:-3.78, Z:26.38
[[ 9.79712829e-01 -6.23513362e-02 -1.90460189e-01  1.37669011e+02]
 [ 6.48921575e-02  9.97866834e-01  7.12667968e-03 -3.77854166e+00]
 [ 1.89609548e-01 -1.93414721e-02  9.81669052e-01  2.63828110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.44486062399997 meters
Centerline goodness : 0.999793 with order 1
Centerline is valid?  [True, True]
Translation: X:137.73, Y:-3.79, Z:26.39
[[ 9.79562631e-01 -6.46691030e-02 -1.90459864e-01  1.37728587e+02]
 [ 6.72545374e-02  9.97710336e-01  7.13535707e-03 -3.78527555e+00]
 [ 1.89562338e-01 -1.97988192e-02  9.81669052e-01  2.63939975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.50486062399997 meters
Centerline goodness : 0.999613 with order 1
Centerline is valid?  [True, True]
Translation: X:137.79, Y:-3.79, Z:26.40
[[ 9.79340712e-01 -6.79474494e-02 -1.90459742e-01  1.37786888e+02]
 [ 7.05942399e-02  9.97479570e-01  7.13862444e-03 -3.79273713e+00]
 [ 1.89494650e-01 -2.04365062e-02  9.81669052e-01  2.64035573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.56486062399998 meters
Centerline goodness : 0.999538 with order 1
Centerline is valid?  [True, True]
Translation: X:137.85, Y:-3.80, Z:26.41
[[ 9.79169698e-01 -7.03684479e-02 -1.90459927e-01  1.37846640e+02]
 [ 7.30591254e-02  9.97302098e-01  7.13368449e-03 -3.80060982e+00]
 [ 1.89444098e-01 -2.08999233e-02  9.81669052e-01  2.64141268e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.62486062399998 meters
Centerline goodness : 0.999337 with order 1
Centerline is valid?  [True, True]
Translation: X:137.91, Y:-3.81, Z:26.42
[[ 9.79123903e-01 -7.10030302e-02 -1.90459846e-01  1.37906250e+02]
 [ 7.37058724e-02  9.97254493e-01  7.13583753e-03 -3.80702532e+00]
 [ 1.89430271e-01 -2.10248782e-02  9.81669052e-01  2.64238215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.68486062399998 meters
Centerline goodness : 0.999366 with order 1
Centerline is valid?  [True, True]
Translation: X:137.97, Y:-3.81, Z:26.43
[[ 9.79086685e-01 -7.15150637e-02 -1.90459598e-01  1.37966003e+02]
 [ 7.42286550e-02  9.97215670e-01  7.14243682e-03 -3.81444148e+00]
 [ 1.89418504e-01 -2.11306246e-02  9.81669052e-01  2.64344746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.74486062399998 meters
Centerline goodness : 0.999270 with order 1
Centerline is valid?  [True, True]
Translation: X:138.02, Y:-3.82, Z:26.45
[[ 9.79124382e-01 -7.09977303e-02 -1.90459359e-01  1.38023774e+02]
 [ 7.37029683e-02  9.97254615e-01  7.14881712e-03 -3.82184575e+00]
 [ 1.89428925e-01 -2.10370012e-02  9.81669052e-01  2.64477304e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.80486062399999 meters
Centerline goodness : 0.999422 with order 1
Centerline is valid?  [True, True]
Translation: X:138.08, Y:-3.83, Z:26.46
[[ 9.79152421e-01 -7.06100873e-02 -1.90459318e-01  1.38083890e+02]
 [ 7.33083594e-02  9.97283692e-01  7.14992026e-03 -3.82617289e+00]
 [ 1.89437115e-01 -2.09631218e-02  9.81669052e-01  2.64617592e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.864860624 meters
Centerline goodness : 0.999175 with order 1
Centerline is valid?  [True, True]
Translation: X:138.14, Y:-3.83, Z:26.47
[[ 9.79278231e-01 -6.88446272e-02 -1.90458824e-01  1.38143528e+02]
 [ 7.15127302e-02  9.97413966e-01  7.16305647e-03 -3.83333040e+00]
 [ 1.89473153e-01 -2.06348557e-02  9.81669052e-01  2.64733564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.924860624 meters
Centerline goodness : 0.999007 with order 1
Centerline is valid?  [True, True]
Translation: X:138.20, Y:-3.84, Z:26.48
[[ 9.79463288e-01 -6.61597298e-02 -1.90458809e-01  1.38202759e+02]
 [ 6.87781789e-02  9.97606259e-01  7.16344250e-03 -3.84039486e+00]
 [ 1.89528968e-01 -2.01157390e-02  9.81669052e-01  2.64828038e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 139.984860624 meters
Centerline goodness : 0.999232 with order 1
Centerline is valid?  [True, True]
Translation: X:138.26, Y:-3.85, Z:26.49
[[ 9.79612039e-01 -6.39194378e-02 -1.90458809e-01  1.38262076e+02]
 [ 6.64963854e-02  9.97760951e-01  7.16344250e-03 -3.84509434e+00]
 [ 1.89574479e-01 -1.96822169e-02  9.81669052e-01  2.64935271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.044860624 meters
Centerline goodness : 0.999212 with order 1
Centerline is valid?  [True, True]
Translation: X:138.32, Y:-3.85, Z:26.50
[[ 9.79864000e-01 -5.99331587e-02 -1.90458809e-01  1.38321082e+02]
 [ 6.24362426e-02  9.98023247e-01  7.16344250e-03 -3.85125376e+00]
 [ 1.89652991e-01 -1.89107318e-02  9.81669052e-01  2.65044401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.10486062399997 meters
Centerline goodness : 0.998940 with order 1
Centerline is valid?  [True, True]
Translation: X:138.38, Y:-3.86, Z:26.52
[[ 9.80055578e-01 -5.67142700e-02 -1.90458804e-01  1.38380504e+02]
 [ 5.91577167e-02  9.98222945e-01  7.16356791e-03 -3.85546318e+00]
 [ 1.89714072e-01 -1.82878027e-02  9.81669052e-01  2.65168860e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.16486062399997 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:138.44, Y:-3.86, Z:26.53
[[ 9.80127898e-01 -5.54506075e-02 -1.90458744e-01  1.38438613e+02]
 [ 5.78709376e-02  9.98298360e-01  7.16517353e-03 -3.85861414e+00]
 [ 1.89737338e-01 -1.80448126e-02  9.81669052e-01  2.65281413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.22486062399997 meters
Centerline goodness : 0.998674 with order 1
Centerline is valid?  [True, True]
Translation: X:138.50, Y:-3.86, Z:26.54
[[ 9.80247186e-01 -5.32994312e-02 -1.90458985e-01  1.38496326e+02]
 [ 5.56786403e-02  9.98423077e-01  7.15875079e-03 -3.86398895e+00]
 [ 1.89777089e-01 -1.76218427e-02  9.81669052e-01  2.65398238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.28486062399998 meters
Centerline goodness : 0.998732 with order 1
Centerline is valid?  [True, True]
Translation: X:138.55, Y:-3.87, Z:26.55
[[ 9.80218243e-01 -5.38284023e-02 -1.90459178e-01  1.38554442e+02]
 [ 5.62164296e-02  9.98392978e-01  7.15361119e-03 -3.87093613e+00]
 [ 1.89768039e-01 -1.77190352e-02  9.81669052e-01  2.65516421e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.34486062399998 meters
Centerline goodness : 0.998833 with order 1
Centerline is valid?  [True, True]
Translation: X:138.61, Y:-3.88, Z:26.56
[[ 9.80116531e-01 -5.56488663e-02 -1.90459414e-01  1.38612811e+02]
 [ 5.80694345e-02  9.98286961e-01  7.14732361e-03 -3.87662054e+00]
 [ 1.89735409e-01 -1.80650805e-02  9.81669052e-01  2.65628120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.40486062399998 meters
Centerline goodness : 0.998531 with order 1
Centerline is valid?  [True, True]
Translation: X:138.67, Y:-3.88, Z:26.58
[[ 9.79741861e-01 -6.18954691e-02 -1.90459542e-01  1.38671941e+02]
 [ 6.44311591e-02  9.97896583e-01  7.14391414e-03 -3.88489583e+00]
 [ 1.89616750e-01 -1.92707208e-02  9.81669052e-01  2.65759588e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.46486062399998 meters
Centerline goodness : 0.998620 with order 1
Centerline is valid?  [True, True]
Translation: X:138.73, Y:-3.89, Z:26.58
[[ 9.79317826e-01 -6.82770863e-02 -1.90459538e-01  1.38731192e+02]
 [ 7.09310202e-02  9.97455640e-01  7.14402478e-03 -3.89434949e+00]
 [ 1.89487167e-01 -2.05057601e-02  9.81669052e-01  2.65844455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.52486062399998 meters
Centerline goodness : 0.998797 with order 1
Centerline is valid?  [True, True]
Translation: X:138.79, Y:-3.90, Z:26.60
[[ 9.78960828e-01 -7.32178913e-02 -1.90459542e-01  1.38790533e+02]
 [ 7.59632942e-02  9.97085023e-01  7.14391372e-03 -3.90182478e+00]
 [ 1.89381295e-01 -2.14615459e-02  9.81669052e-01  2.65967656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.584860624 meters
Centerline goodness : 0.999109 with order 1
Centerline is valid?  [True, True]
Translation: X:138.85, Y:-3.91, Z:26.61
[[ 9.78792062e-01 -7.54402582e-02 -1.90459618e-01  1.38849885e+02]
 [ 7.82264158e-02  9.96910037e-01  7.14190400e-03 -3.90737306e+00]
 [ 1.89332317e-01 -2.18894122e-02  9.81669052e-01  2.66095594e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.644860624 meters
Centerline goodness : 0.998950 with order 1
Centerline is valid?  [True, True]
Translation: X:138.91, Y:-3.91, Z:26.62
[[ 9.78743622e-01 -7.60664330e-02 -1.90459498e-01  1.38910369e+02]
 [ 7.88647909e-02  9.96859716e-01  7.14507982e-03 -3.91418050e+00]
 [ 1.89317901e-01 -2.20137498e-02  9.81669052e-01  2.66221251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.704860624 meters
Centerline goodness : 0.998863 with order 1
Centerline is valid?  [True, True]
Translation: X:138.97, Y:-3.92, Z:26.63
[[ 9.78696441e-01 -7.66720003e-02 -1.90459131e-01  1.38969316e+02]
 [ 7.94834423e-02  9.96810509e-01  7.15484972e-03 -3.91893107e+00]
 [ 1.89303087e-01 -2.21407733e-02  9.81669052e-01  2.66331983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.764860624 meters
Centerline goodness : 0.998915 with order 1
Centerline is valid?  [True, True]
Translation: X:139.03, Y:-3.92, Z:26.64
[[ 9.78715025e-01 -7.64350103e-02 -1.90458891e-01  1.39028634e+02]
 [ 7.92432936e-02  9.96829583e-01  7.16124465e-03 -3.92481232e+00]
 [ 1.89307687e-01 -2.21014076e-02  9.81669052e-01  2.66445023e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.82486062399997 meters
Centerline goodness : 0.999153 with order 1
Centerline is valid?  [True, True]
Translation: X:139.09, Y:-3.93, Z:26.66
[[ 9.78766210e-01 -7.57770496e-02 -1.90458776e-01  1.39088529e+02]
 [ 7.85737430e-02  9.96882561e-01  7.16430853e-03 -3.93021921e+00]
 [ 1.89322142e-01 -2.19772420e-02  9.81669052e-01  2.66571568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.88486062399997 meters
Centerline goodness : 0.999133 with order 1
Centerline is valid?  [True, True]
Translation: X:139.15, Y:-3.94, Z:26.67
[[ 9.78852239e-01 -7.46581593e-02 -1.90458536e-01  1.39147403e+02]
 [ 7.74353669e-02  9.96971587e-01  7.17068763e-03 -3.93588539e+00]
 [ 1.89346398e-01 -2.17672702e-02  9.81669052e-01  2.66691738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 140.94486062399997 meters
Centerline goodness : 0.999136 with order 1
Centerline is valid?  [True, True]
Translation: X:139.21, Y:-3.94, Z:26.68
[[ 9.78972746e-01 -7.30611334e-02 -1.90458481e-01  1.39207362e+02]
 [ 7.58090566e-02  9.97096559e-01  7.17214388e-03 -3.94003709e+00]
 [ 1.89381491e-01 -2.14598111e-02  9.81669052e-01  2.66808760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.00486062399997 meters
Centerline goodness : 0.998979 with order 1
Centerline is valid?  [True, True]
Translation: X:139.27, Y:-3.95, Z:26.69
[[ 9.79071247e-01 -7.17296933e-02 -1.90458247e-01  1.39267634e+02]
 [ 7.44541553e-02  9.97198601e-01  7.17833338e-03 -3.94534324e+00]
 [ 1.89409798e-01 -2.12085077e-02  9.81669052e-01  2.66931019e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.06486062399998 meters
Centerline goodness : 0.998619 with order 1
Centerline is valid?  [True, True]
Translation: X:139.33, Y:-3.95, Z:26.70
[[ 9.79180016e-01 -7.02302647e-02 -1.90457886e-01  1.39326449e+02]
 [ 7.29288013e-02  9.97311247e-01  7.18789846e-03 -3.94963233e+00]
 [ 1.89440984e-01 -2.09281119e-02  9.81669052e-01  2.67017406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.12486062399998 meters
Centerline goodness : 0.999187 with order 1
Centerline is valid?  [True, True]
Translation: X:139.39, Y:-3.95, Z:26.71
[[ 9.79360700e-01 -6.76636327e-02 -1.90458004e-01  1.39385369e+02]
 [ 7.03140406e-02  9.97499030e-01  7.18478673e-03 -3.95323252e+00]
 [ 1.89495525e-01 -2.04283696e-02  9.81669052e-01  2.67142118e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.18486062399998 meters
Centerline goodness : 0.998893 with order 1
Centerline is valid?  [True, True]
Translation: X:139.44, Y:-3.96, Z:26.72
[[ 9.79514076e-01 -6.54058028e-02 -1.90458018e-01  1.39443570e+02]
 [ 6.80143204e-02  9.97658477e-01  7.18442107e-03 -3.95594779e+00]
 [ 1.89542153e-01 -1.99911142e-02  9.81669052e-01  2.67220954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.24486062399998 meters
Centerline goodness : 0.998939 with order 1
Centerline is valid?  [True, True]
Translation: X:139.50, Y:-3.96, Z:26.74
[[ 9.79426497e-01 -6.67035345e-02 -1.90458332e-01  1.39501315e+02]
 [ 6.93344833e-02  9.97567659e-01  7.17606466e-03 -3.95951950e+00]
 [ 1.89516404e-01 -2.02337579e-02  9.81669052e-01  2.67384010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.30486062399999 meters
Centerline goodness : 0.998920 with order 1
Centerline is valid?  [True, True]
Translation: X:139.56, Y:-3.96, Z:26.75
[[ 9.79311279e-01 -6.83739475e-02 -1.90458450e-01  1.39560609e+02]
 [ 7.10352330e-02  9.97448016e-01  7.17293760e-03 -3.96494841e+00]
 [ 1.89481961e-01 -2.05537991e-02  9.81669052e-01  2.67498327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.364860624 meters
Centerline goodness : 0.998923 with order 1
Centerline is valid?  [True, True]
Translation: X:139.62, Y:-3.97, Z:26.76
[[ 9.79203838e-01 -6.98958017e-02 -1.90458450e-01  1.39620050e+02]
 [ 7.25852701e-02  9.97336416e-01  7.17293760e-03 -3.96874383e+00]
 [ 1.89449790e-01 -2.08482461e-02  9.81669052e-01  2.67631660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.424860624 meters
Centerline goodness : 0.999126 with order 1
Centerline is valid?  [True, True]
Translation: X:139.68, Y:-3.97, Z:26.78
[[ 9.79090344e-01 -7.14685046e-02 -1.90458265e-01  1.39679643e+02]
 [ 7.41880383e-02  9.97218438e-01  7.17785302e-03 -3.97254949e+00]
 [ 1.89415503e-01 -2.11574916e-02  9.81669052e-01  2.67750114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.484860624 meters
Centerline goodness : 0.998948 with order 1
Centerline is valid?  [True, True]
Translation: X:139.74, Y:-3.98, Z:26.79
[[ 9.79117435e-01 -7.10967190e-02 -1.90458145e-01  1.39739964e+02]
 [ 7.38099822e-02  9.97246469e-01  7.18104517e-03 -3.97555851e+00]
 [ 1.89423163e-01 -2.10887988e-02  9.81669052e-01  2.67865462e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.544860624 meters
Centerline goodness : 0.998701 with order 1
Centerline is valid?  [True, True]
Translation: X:139.80, Y:-3.98, Z:26.80
[[ 9.79228741e-01 -6.95478571e-02 -1.90457786e-01  1.39799110e+02]
 [ 7.22342661e-02  9.97361773e-01  7.19054541e-03 -3.97886349e+00]
 [ 1.89455228e-01 -2.07987671e-02  9.81669052e-01  2.67999144e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.60486062399997 meters
Centerline goodness : 0.998769 with order 1
Centerline is valid?  [True, True]
Translation: X:139.86, Y:-3.98, Z:26.81
[[ 9.79328529e-01 -6.81286175e-02 -1.90457669e-01  1.39857985e+02]
 [ 7.07893410e-02  9.97465348e-01  7.19365093e-03 -3.98124765e+00]
 [ 1.89484831e-01 -2.05273204e-02  9.81669052e-01  2.68143233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.66486062399997 meters
Centerline goodness : 0.998928 with order 1
Centerline is valid?  [True, True]
Translation: X:139.92, Y:-3.99, Z:26.83
[[ 9.79380778e-01 -6.73736908e-02 -1.90457548e-01  1.39917638e+02]
 [ 7.00210464e-02  9.97519553e-01  7.19684232e-03 -3.98502034e+00]
 [ 1.89500250e-01 -2.03844858e-02  9.81669052e-01  2.68263532e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.72486062399997 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:139.98, Y:-3.99, Z:26.84
[[ 9.79446397e-01 -6.64132749e-02 -1.90457429e-01  1.39978006e+02]
 [ 6.90434477e-02  9.97587672e-01  7.19999140e-03 -3.98907376e+00]
 [ 1.89519808e-01 -2.02018432e-02  9.81669052e-01  2.68370612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.78486062399998 meters
Centerline goodness : 0.998954 with order 1
Centerline is valid?  [True, True]
Translation: X:140.04, Y:-3.99, Z:26.85
[[ 9.79507319e-01 -6.55093226e-02 -1.90457189e-01  1.40036087e+02]
 [ 6.81239698e-02  9.97650838e-01  7.20632516e-03 -3.99277410e+00]
 [ 1.89537693e-01 -2.00333481e-02  9.81669052e-01  2.68484386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.84486062399998 meters
Centerline goodness : 0.998598 with order 1
Centerline is valid?  [True, True]
Translation: X:140.10, Y:-4.00, Z:26.86
[[ 9.79520150e-01 -6.53168499e-02 -1.90457307e-01  1.40096201e+02]
 [ 6.79273349e-02  9.97664268e-01  7.20322077e-03 -3.99699870e+00]
 [ 1.89541958e-01 -1.99929571e-02  9.81669052e-01  2.68629492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.90486062399998 meters
Centerline goodness : 0.998689 with order 1
Centerline is valid?  [True, True]
Translation: X:140.16, Y:-4.00, Z:26.87
[[ 9.79577249e-01 -6.44559305e-02 -1.90456940e-01  1.40156740e+02]
 [ 6.70523320e-02  9.97723388e-01  7.21291423e-03 -4.00110027e+00]
 [ 1.89558428e-01 -1.98361886e-02  9.81669052e-01  2.68749743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 141.96486062399998 meters
Centerline goodness : 0.998468 with order 1
Centerline is valid?  [True, True]
Translation: X:140.22, Y:-4.00, Z:26.89
[[ 9.79589121e-01 -6.42767122e-02 -1.90456446e-01  1.40216951e+02]
 [ 6.68722974e-02  9.97735377e-01  7.22593243e-03 -4.00464768e+00]
 [ 1.89560675e-01 -1.98147049e-02  9.81669052e-01  2.68854850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.02486062399998 meters
Centerline goodness : 0.998559 with order 1
Centerline is valid?  [True, True]
Translation: X:140.28, Y:-4.01, Z:26.90
[[ 9.79596607e-01 -6.41628876e-02 -1.90456323e-01  1.40276793e+02]
 [ 6.67569861e-02  9.97743075e-01  7.22916569e-03 -4.00836180e+00]
 [ 1.89562633e-01 -1.97959563e-02  9.81669052e-01  2.68957690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.084860624 meters
Centerline goodness : 0.998413 with order 1
Centerline is valid?  [True, True]
Translation: X:140.34, Y:-4.01, Z:26.91
[[ 9.79593513e-01 -6.42107090e-02 -1.90456122e-01  1.40335711e+02]
 [ 6.68067098e-02  9.97739709e-01  7.23445076e-03 -4.01196342e+00]
 [ 1.89561107e-01 -1.98105679e-02  9.81669052e-01  2.69069535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.144860624 meters
Centerline goodness : 0.998343 with order 1
Centerline is valid?  [True, True]
Translation: X:140.39, Y:-4.02, Z:26.92
[[ 9.79534062e-01 -6.51113442e-02 -1.90456122e-01  1.40394119e+02]
 [ 6.77240280e-02  9.97677863e-01  7.23445076e-03 -4.01666470e+00]
 [ 1.89542812e-01 -1.99848467e-02  9.81669052e-01  2.69196233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.204860624 meters
Centerline goodness : 0.998588 with order 1
Centerline is valid?  [True, True]
Translation: X:140.45, Y:-4.02, Z:26.93
[[ 9.79426989e-01 -6.67022654e-02 -1.90456242e-01  1.40452360e+02]
 [ 6.93438075e-02  9.97566612e-01  7.23128719e-03 -4.02069735e+00]
 [ 1.89510445e-01 -2.02894789e-02  9.81669052e-01  2.69294013e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.264860624 meters
Centerline goodness : 0.998192 with order 1
Centerline is valid?  [True, True]
Translation: X:140.51, Y:-4.02, Z:26.94
[[ 9.79343097e-01 -6.79222208e-02 -1.90456479e-01  1.40510304e+02]
 [ 7.05851565e-02  9.97479591e-01  7.22504559e-03 -4.02420989e+00]
 [ 1.89485710e-01 -2.05191989e-02  9.81669052e-01  2.69390034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.32486062399997 meters
Centerline goodness : 0.998634 with order 1
Centerline is valid?  [True, True]
Translation: X:140.57, Y:-4.03, Z:26.95
[[ 9.79317885e-01 -6.82842699e-02 -1.90456660e-01  1.40568159e+02]
 [ 7.09529935e-02  9.97453528e-01  7.22027576e-03 -4.02698521e+00]
 [ 1.89478636e-01 -2.05844154e-02  9.81669052e-01  2.69506400e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.38486062399997 meters
Centerline goodness : 0.999053 with order 1
Centerline is valid?  [True, True]
Translation: X:140.63, Y:-4.03, Z:26.97
[[ 9.79371557e-01 -6.75094577e-02 -1.90456888e-01  1.40627222e+02]
 [ 7.01626735e-02  9.97509476e-01  7.21424718e-03 -4.02955791e+00]
 [ 1.89495521e-01 -2.04283930e-02  9.81669052e-01  2.69654349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.44486062399997 meters
Centerline goodness : 0.998437 with order 1
Centerline is valid?  [True, True]
Translation: X:140.69, Y:-4.03, Z:26.98
[[ 9.79326531e-01 -6.81598622e-02 -1.90456765e-01  1.40686886e+02]
 [ 7.08257475e-02  9.97462591e-01  7.21749520e-03 -4.03204479e+00]
 [ 1.89481555e-01 -2.05575273e-02  9.81669052e-01  2.69758284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.50486062399997 meters
Centerline goodness : 0.998303 with order 1
Centerline is valid?  [True, True]
Translation: X:140.75, Y:-4.03, Z:26.98
[[ 9.79250518e-01 -6.92451513e-02 -1.90456117e-01  1.40745165e+02]
 [ 7.19344136e-02  9.97383127e-01  7.23456005e-03 -4.03487697e+00]
 [ 1.89456759e-01 -2.07847958e-02  9.81669052e-01  2.69843687e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.56486062399998 meters
Centerline goodness : 0.998416 with order 1
Centerline is valid?  [True, True]
Translation: X:140.81, Y:-4.04, Z:27.00
[[ 9.79203929e-01 -6.99002899e-02 -1.90456333e-01  1.40805063e+02]
 [ 7.26005879e-02  9.97334898e-01  7.22886137e-03 -4.03772915e+00]
 [ 1.89443448e-01 -2.09057712e-02  9.81669052e-01  2.69986999e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.62486062399998 meters
Centerline goodness : 0.997821 with order 1
Centerline is valid?  [True, True]
Translation: X:140.86, Y:-4.04, Z:27.01
[[ 9.79077312e-01 -7.16525986e-02 -1.90456088e-01  1.40864615e+02]
 [ 7.43865822e-02  9.97203232e-01  7.23532723e-03 -4.04039071e+00]
 [ 1.89404996e-01 -2.12513222e-02  9.81669053e-01  2.70110979e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.68486062399998 meters
Centerline goodness : 0.998308 with order 1
Centerline is valid?  [True, True]
Translation: X:140.92, Y:-4.04, Z:27.02
[[ 9.79001025e-01 -7.26875508e-02 -1.90456066e-01  1.40924213e+02]
 [ 7.54408018e-02  9.97124028e-01  7.23588867e-03 -4.04357247e+00]
 [ 1.89382361e-01 -2.14521008e-02  9.81669053e-01  2.70227946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.74486062399998 meters
Centerline goodness : 0.998373 with order 1
Centerline is valid?  [True, True]
Translation: X:140.98, Y:-4.05, Z:27.03
[[ 9.78969028e-01 -7.31178379e-02 -1.90455834e-01  1.40984829e+02]
 [ 7.58802288e-02  9.97090640e-01  7.24200447e-03 -4.04635140e+00]
 [ 1.89372210e-01 -2.15415303e-02  9.81669053e-01  2.70333067e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.80486062399999 meters
Centerline goodness : 0.998197 with order 1
Centerline is valid?  [True, True]
Translation: X:141.05, Y:-4.05, Z:27.04
[[ 9.78894343e-01 -7.41116458e-02 -1.90455585e-01  1.41045369e+02]
 [ 7.68936874e-02  9.97012949e-01  7.24854065e-03 -4.04909300e+00]
 [ 1.89349483e-01 -2.17403877e-02  9.81669053e-01  2.70447889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.864860624 meters
Centerline goodness : 0.998200 with order 1
Centerline is valid?  [True, True]
Translation: X:141.11, Y:-4.05, Z:27.06
[[ 9.78875491e-01 -7.43611875e-02 -1.90455210e-01  1.41105349e+02]
 [ 7.71497373e-02  9.96993096e-01  7.25838056e-03 -4.05159517e+00]
 [ 1.89342788e-01 -2.17986203e-02  9.81669053e-01  2.70568684e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.924860624 meters
Centerline goodness : 0.998283 with order 1
Centerline is valid?  [True, True]
Translation: X:141.16, Y:-4.06, Z:27.07
[[ 9.78675322e-01 -7.69514202e-02 -1.90454962e-01  1.41164073e+02]
 [ 7.97891553e-02  9.96785289e-01  7.26488643e-03 -4.05506633e+00]
 [ 1.89283661e-01 -2.23062056e-02  9.81669053e-01  2.70696864e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 142.984860624 meters
Centerline goodness : 0.998177 with order 1
Centerline is valid?  [True, True]
Translation: X:141.23, Y:-4.06, Z:27.08
[[ 9.78578414e-01 -7.81741373e-02 -1.90454962e-01  1.41225219e+02]
 [ 8.10344971e-02  9.96684821e-01  7.26488643e-03 -4.05859429e+00]
 [ 1.89255643e-01 -2.25426831e-02  9.81669053e-01  2.70824825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.044860624 meters
Centerline goodness : 0.997920 with order 1
Centerline is valid?  [True, True]
Translation: X:141.29, Y:-4.06, Z:27.09
[[ 9.78353333e-01 -8.09435102e-02 -1.90454469e-01  1.41285444e+02]
 [ 8.38575802e-02  9.96451173e-01  7.27778874e-03 -4.06245182e+00]
 [ 1.89189489e-01 -2.30912998e-02  9.81669053e-01  2.70938842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.10486062399997 meters
Centerline goodness : 0.997856 with order 1
Centerline is valid?  [True, True]
Translation: X:141.35, Y:-4.06, Z:27.11
[[ 9.78285603e-01 -8.17584552e-02 -1.90454282e-01  1.41345338e+02]
 [ 8.46885383e-02  9.96380858e-01  7.28268266e-03 -4.06479313e+00]
 [ 1.89169580e-01 -2.32538383e-02  9.81669053e-01  2.71063583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.16486062399997 meters
Centerline goodness : 0.997984 with order 1
Centerline is valid?  [True, True]
Translation: X:141.41, Y:-4.07, Z:27.12
[[ 9.78373298e-01 -8.07028706e-02 -1.90454028e-01  1.41405846e+02]
 [ 8.36146979e-02  9.96471499e-01  7.28930399e-03 -4.06658871e+00]
 [ 1.89193743e-01 -2.30564164e-02  9.81669053e-01  2.71175517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.22486062399997 meters
Centerline goodness : 0.998047 with order 1
Centerline is valid?  [True, True]
Translation: X:141.47, Y:-4.07, Z:27.13
[[ 9.78602122e-01 -7.78796842e-02 -1.90453778e-01  1.41465491e+02]
 [ 8.07405372e-02  9.96708451e-01  7.29584729e-03 -4.06824163e+00]
 [ 1.89258692e-01 -2.25170720e-02  9.81669053e-01  2.71287130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.28486062399998 meters
Centerline goodness : 0.997917 with order 1
Centerline is valid?  [True, True]
Translation: X:141.53, Y:-4.07, Z:27.14
[[ 9.78754246e-01 -7.59439407e-02 -1.90453783e-01  1.41525737e+02]
 [ 7.87689476e-02  9.96866202e-01  7.29570242e-03 -4.06968482e+00]
 [ 1.89302875e-01 -2.21425438e-02  9.81669053e-01  2.71403223e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.34486062399998 meters
Centerline goodness : 0.997685 with order 1
Centerline is valid?  [True, True]
Translation: X:141.59, Y:-4.07, Z:27.15
[[ 9.78984716e-01 -7.29134910e-02 -1.90453535e-01  1.41585780e+02]
 [ 7.56836572e-02  9.97105141e-01  7.30218471e-03 -4.07032299e+00]
 [ 1.89369771e-01 -2.15629473e-02  9.81669053e-01  2.71497871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.40486062399998 meters
Centerline goodness : 0.997820 with order 1
Centerline is valid?  [True, True]
Translation: X:141.65, Y:-4.07, Z:27.16
[[ 9.79059827e-01 -7.18980220e-02 -1.90453485e-01  1.41645988e+02]
 [ 7.46496421e-02  9.97183077e-01  7.30348863e-03 -4.07262653e+00]
 [ 1.89391886e-01 -2.13678368e-02  9.81669053e-01  2.71609332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.46486062399998 meters
Centerline goodness : 0.998061 with order 1
Centerline is valid?  [True, True]
Translation: X:141.71, Y:-4.07, Z:27.17
[[ 9.79213247e-01 -6.97780669e-02 -1.90453245e-01  1.41706003e+02]
 [ 7.24916432e-02  9.97342233e-01  7.30974301e-03 -4.07449536e+00]
 [ 1.89437005e-01 -2.09640659e-02  9.81669053e-01  2.71723358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.52486062399998 meters
Centerline goodness : 0.997559 with order 1
Centerline is valid?  [True, True]
Translation: X:141.76, Y:-4.08, Z:27.18
[[ 9.79294190e-01 -6.86329716e-02 -1.90453155e-01  1.41764341e+02]
 [ 7.13257962e-02  9.97426270e-01  7.31208128e-03 -4.07616809e+00]
 [ 1.89461130e-01 -2.07449016e-02  9.81669053e-01  2.71832276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.584860624 meters
Centerline goodness : 0.997575 with order 1
Centerline is valid?  [True, True]
Translation: X:141.82, Y:-4.08, Z:27.19
[[ 9.79400198e-01 -6.71025969e-02 -1.90453390e-01  1.41823607e+02]
 [ 6.97659049e-02  9.97536637e-01  7.30594581e-03 -4.07742881e+00]
 [ 1.89493987e-01 -2.04425979e-02  9.81669053e-01  2.71935133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.644860624 meters
Centerline goodness : 0.997952 with order 1
Centerline is valid?  [True, True]
Translation: X:141.88, Y:-4.08, Z:27.20
[[ 9.79446932e-01 -6.64166234e-02 -1.90453508e-01  1.41881447e+02]
 [ 6.90666364e-02  9.97585319e-01  7.30286765e-03 -4.07907580e+00]
 [ 1.89508592e-01 -2.03067545e-02  9.81669053e-01  2.72032610e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.704860624 meters
Centerline goodness : 0.997395 with order 1
Centerline is valid?  [True, True]
Translation: X:141.94, Y:-4.08, Z:27.21
[[ 9.79478247e-01 -6.59521876e-02 -1.90453857e-01  1.41940568e+02]
 [ 6.85918498e-02  9.97618143e-01  7.29376608e-03 -4.08024017e+00]
 [ 1.89519183e-01 -2.02076676e-02  9.81669053e-01  2.72143300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.764860624 meters
Centerline goodness : 0.997967 with order 1
Centerline is valid?  [True, True]
Translation: X:142.00, Y:-4.08, Z:27.23
[[ 9.79564477e-01 -6.46584912e-02 -1.90453973e-01  1.41999622e+02]
 [ 6.72736120e-02  9.97707926e-01  7.29074536e-03 -4.08069543e+00]
 [ 1.89546029e-01 -1.99542818e-02  9.81669053e-01  2.72254074e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.82486062399997 meters
Centerline goodness : 0.997850 with order 1
Centerline is valid?  [True, True]
Translation: X:142.06, Y:-4.08, Z:27.24
[[ 9.79538898e-01 -6.50448421e-02 -1.90453973e-01  1.42059078e+02]
 [ 6.76671188e-02  9.97681315e-01  7.29074536e-03 -4.08144001e+00]
 [ 1.89538144e-01 -2.00290403e-02  9.81669053e-01  2.72380078e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.88486062399997 meters
Centerline goodness : 0.997540 with order 1
Centerline is valid?  [True, True]
Translation: X:142.12, Y:-4.08, Z:27.25
[[ 9.79639141e-01 -6.35172264e-02 -1.90453973e-01  1.42118458e+02]
 [ 6.61112078e-02  9.97785625e-01  7.29074536e-03 -4.08137373e+00]
 [ 1.89569148e-01 -1.97334417e-02  9.81669053e-01  2.72491360e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 143.94486062399997 meters
Centerline goodness : 0.997467 with order 1
Centerline is valid?  [True, True]
Translation: X:142.18, Y:-4.08, Z:27.26
[[ 9.79702055e-01 -6.25393356e-02 -1.90453973e-01  1.42178187e+02]
 [ 6.51152022e-02  9.97851119e-01  7.29074536e-03 -4.08251614e+00]
 [ 1.89588751e-01 -1.95442072e-02  9.81669053e-01  2.72609606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.00486062399997 meters
Centerline goodness : 0.997321 with order 1
Centerline is valid?  [True, True]
Translation: X:142.24, Y:-4.08, Z:27.27
[[ 9.79863531e-01 -5.99561872e-02 -1.90453973e-01  1.42236922e+02]
 [ 6.24841959e-02  9.98019324e-01  7.29074536e-03 -4.08054345e+00]
 [ 1.89639620e-01 -1.90442988e-02  9.81669053e-01  2.72717660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.06486062399998 meters
Centerline goodness : 0.998142 with order 1
Centerline is valid?  [True, True]
Translation: X:142.30, Y:-4.08, Z:27.28
[[ 9.80095201e-01 -5.60411501e-02 -1.90454158e-01  1.42296040e+02]
 [ 5.84956753e-02  9.98261074e-01  7.28591058e-03 -4.08024441e+00]
 [ 1.89714661e-01 -1.82816306e-02  9.81669053e-01  2.72832670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.12486062399998 meters
Centerline goodness : 0.998025 with order 1
Centerline is valid?  [True, True]
Translation: X:142.36, Y:-4.08, Z:27.29
[[ 9.80497943e-01 -4.84870474e-02 -1.90454167e-01  1.42355751e+02]
 [ 5.08014710e-02  9.98682196e-01  7.28567360e-03 -4.07778438e+00]
 [ 1.89849925e-01 -1.68189398e-02  9.81669053e-01  2.72943172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.18486062399998 meters
Centerline goodness : 0.997986 with order 1
Centerline is valid?  [True, True]
Translation: X:142.41, Y:-4.08, Z:27.31
[[ 9.80772027e-01 -4.25844024e-02 -1.90454193e-01  1.42413924e+02]
 [ 4.47891961e-02  9.98969898e-01  7.28497728e-03 -4.07534098e+00]
 [ 1.89947780e-01 -1.56751921e-02  9.81669053e-01  2.73050790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.24486062399998 meters
Centerline goodness : 0.997943 with order 1
Centerline is valid?  [True, True]
Translation: X:142.47, Y:-4.07, Z:27.32
[[ 9.81098311e-01 -3.42517772e-02 -1.90454507e-01  1.42473484e+02]
 [ 3.63003232e-02  9.99314433e-01  7.27675338e-03 -4.07114229e+00]
 [ 1.90074696e-01 -1.40527706e-02  9.81669053e-01  2.73172027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.30486062399999 meters
Centerline goodness : 0.998148 with order 1
Centerline is valid?  [True, True]
Translation: X:142.53, Y:-4.07, Z:27.33
[[ 9.81276420e-01 -2.86993503e-02 -1.90454548e-01  1.42532864e+02]
 [ 3.06445780e-02  9.99503864e-01  7.27570068e-03 -4.06707167e+00]
 [ 1.90151248e-01 -1.29758728e-02  9.81669053e-01  2.73280790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.364860624 meters
Centerline goodness : 0.998213 with order 1
Centerline is valid?  [True, True]
Translation: X:142.59, Y:-4.07, Z:27.34
[[ 9.81330254e-01 -2.67951731e-02 -1.90454591e-01  1.42589554e+02]
 [ 2.87048081e-02  9.99561461e-01  7.27456479e-03 -4.06579906e+00]
 [ 1.90176146e-01 -1.26057130e-02  9.81669053e-01  2.73388151e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.424860624 meters
Centerline goodness : 0.998081 with order 1
Centerline is valid?  [True, True]
Translation: X:142.65, Y:-4.06, Z:27.35
[[ 9.81330698e-01 -2.67746424e-02 -1.90455190e-01  1.42646844e+02]
 [ 2.86808572e-02  9.99562263e-01  7.25883848e-03 -4.06350167e+00]
 [ 1.90177468e-01 -1.25857392e-02  9.81669053e-01  2.73488464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.484860624 meters
Centerline goodness : 0.997416 with order 1
Centerline is valid?  [True, True]
Translation: X:142.71, Y:-4.06, Z:27.36
[[ 9.81296570e-01 -2.79935433e-02 -1.90455778e-01  1.42705095e+02]
 [ 2.99194192e-02  9.99526068e-01  7.24339897e-03 -4.06305927e+00]
 [ 1.90162746e-01 -1.28062488e-02  9.81669053e-01  2.73602403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.544860624 meters
Centerline goodness : 0.998166 with order 1
Centerline is valid?  [True, True]
Translation: X:142.76, Y:-4.06, Z:27.37
[[ 9.81210025e-01 -3.08763493e-02 -1.90456131e-01  1.42764220e+02]
 [ 3.28539786e-02  9.99433982e-01  7.23410944e-03 -4.06343888e+00]
 [ 1.90124966e-01 -1.33554223e-02  9.81669053e-01  2.73701780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.60486062399997 meters
Centerline goodness : 0.998232 with order 1
Centerline is valid?  [True, True]
Translation: X:142.82, Y:-4.06, Z:27.38
[[ 9.81106588e-01 -3.40040978e-02 -1.90456255e-01  1.42823941e+02]
 [ 3.60391810e-02  9.99324218e-01  7.23084392e-03 -4.06442082e+00]
 [ 1.90081669e-01 -1.39581160e-02  9.81669053e-01  2.73809759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.66486062399997 meters
Centerline goodness : 0.998043 with order 1
Centerline is valid?  [True, True]
Translation: X:142.88, Y:-4.07, Z:27.39
[[ 9.80927048e-01 -3.88397753e-02 -1.90456288e-01  1.42882744e+02]
 [ 4.09644635e-02  9.99134446e-01  7.22996836e-03 -4.06511591e+00]
 [ 1.90010627e-01 -1.48940112e-02  9.81669053e-01  2.73902446e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.72486062399997 meters
Centerline goodness : 0.997968 with order 1
Centerline is valid?  [True, True]
Translation: X:142.94, Y:-4.07, Z:27.40
[[ 9.80809400e-01 -4.17050526e-02 -1.90456321e-01  1.42942327e+02]
 [ 4.38827493e-02  9.99010533e-01  7.22909118e-03 -4.06688917e+00]
 [ 1.89966381e-01 -1.54481076e-02  9.81669053e-01  2.74003698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.78486062399998 meters
Centerline goodness : 0.998083 with order 1
Centerline is valid?  [True, True]
Translation: X:143.00, Y:-4.07, Z:27.41
[[ 9.80675608e-01 -4.47408181e-02 -1.90456322e-01  1.43001841e+02]
 [ 4.69748391e-02  9.98869914e-01  7.22906873e-03 -4.06748332e+00]
 [ 1.89917655e-01 -1.60360265e-02  9.81669053e-01  2.74122654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.84486062399998 meters
Centerline goodness : 0.997912 with order 1
Centerline is valid?  [True, True]
Translation: X:143.06, Y:-4.07, Z:27.42
[[ 9.80557539e-01 -4.72577713e-02 -1.90456337e-01  1.43060075e+02]
 [ 4.95384087e-02  9.98746060e-01  7.22867632e-03 -4.06802819e+00]
 [ 1.89875905e-01 -1.65230369e-02  9.81669053e-01  2.74249220e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.90486062399998 meters
Centerline goodness : 0.997933 with order 1
Centerline is valid?  [True, True]
Translation: X:143.12, Y:-4.07, Z:27.44
[[ 9.80439226e-01 -4.96518744e-02 -1.90456334e-01  1.43119608e+02]
 [ 5.19769312e-02  9.98622123e-01  7.22875393e-03 -4.06997279e+00]
 [ 1.89834987e-01 -1.69866897e-02  9.81669053e-01  2.74375872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 144.96486062399998 meters
Centerline goodness : 0.998293 with order 1
Centerline is valid?  [True, True]
Translation: X:143.18, Y:-4.07, Z:27.45
[[ 9.80310399e-01 -5.21334044e-02 -1.90456370e-01  1.43178303e+02]
 [ 5.45042933e-02  9.98487376e-01  7.22779385e-03 -4.07126104e+00]
 [ 1.89791472e-01 -1.74661714e-02  9.81669053e-01  2.74509818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.02486062399998 meters
Centerline goodness : 0.998263 with order 1
Centerline is valid?  [True, True]
Translation: X:143.24, Y:-4.07, Z:27.46
[[ 9.80268592e-01 -5.29135946e-02 -1.90456399e-01  1.43235687e+02]
 [ 5.52988044e-02  9.98443695e-01  7.22704114e-03 -4.07288245e+00]
 [ 1.89777582e-01 -1.76164526e-02  9.81669053e-01  2.74629089e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.084860624 meters
Centerline goodness : 0.998240 with order 1
Centerline is valid?  [True, True]
Translation: X:143.30, Y:-4.07, Z:27.47
[[ 9.80240521e-01 -5.34250821e-02 -1.90458086e-01  1.43295192e+02]
 [ 5.58111597e-02  9.98415509e-01  7.18231371e-03 -4.07472471e+00]
 [ 1.89772591e-01 -1.76700816e-02  9.81669054e-01  2.74721395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.144860624 meters
Centerline goodness : 0.998334 with order 1
Centerline is valid?  [True, True]
Translation: X:143.35, Y:-4.08, Z:27.48
[[ 9.80228524e-01 -5.36443054e-02 -1.90458206e-01  1.43354030e+02]
 [ 5.60338327e-02  9.98403060e-01  7.17912103e-03 -4.07622580e+00]
 [ 1.89768937e-01 -1.77092825e-02  9.81669054e-01  2.74821774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.204860624 meters
Centerline goodness : 0.998520 with order 1
Centerline is valid?  [True, True]
Translation: X:143.41, Y:-4.08, Z:27.50
[[ 9.80224962e-01 -5.37085044e-02 -1.90458446e-01  1.43411552e+02]
 [ 5.60979962e-02  9.98399502e-01  7.17275713e-03 -4.07718494e+00]
 [ 1.89768379e-01 -1.77152528e-02  9.81669054e-01  2.74950349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.264860624 meters
Centerline goodness : 0.998060 with order 1
Centerline is valid?  [True, True]
Translation: X:143.47, Y:-4.08, Z:27.51
[[ 9.80139779e-01 -5.52394348e-02 -1.90458968e-01  1.43470190e+02]
 [ 5.76546371e-02  9.98310920e-01  7.15887669e-03 -4.07775212e+00]
 [ 1.89741815e-01 -1.79975425e-02  9.81669054e-01  2.75078429e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.32486062399997 meters
Centerline goodness : 0.998180 with order 1
Centerline is valid?  [True, True]
Translation: X:143.53, Y:-4.08, Z:27.52
[[ 9.80085902e-01 -5.61868393e-02 -1.90459085e-01  1.43526797e+02]
 [ 5.86190011e-02  9.98254781e-01  7.15573922e-03 -4.07899884e+00]
 [ 1.89724634e-01 -1.81777605e-02  9.81669054e-01  2.75177968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.38486062399997 meters
Centerline goodness : 0.998221 with order 1
Centerline is valid?  [True, True]
Translation: X:143.58, Y:-4.08, Z:27.53
[[ 9.80041493e-01 -5.69532672e-02 -1.90459960e-01  1.43584857e+02]
 [ 5.93951394e-02  9.98209070e-01  7.13238199e-03 -4.07880574e+00]
 [ 1.89712647e-01 -1.83024262e-02  9.81669055e-01  2.75288638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.44486062399997 meters
Centerline goodness : 0.998337 with order 1
Centerline is valid?  [True, True]
Translation: X:143.64, Y:-4.08, Z:27.54
[[ 9.80048972e-01 -5.68217729e-02 -1.90460753e-01  1.43643732e+02]
 [ 5.92571210e-02  9.98217424e-01  7.11115925e-03 -4.07953052e+00]
 [ 1.89717173e-01 -1.82554402e-02  9.81669055e-01  2.75394553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.50486062399997 meters
Centerline goodness : 0.997892 with order 1
Centerline is valid?  [True, True]
Translation: X:143.70, Y:-4.08, Z:27.55
[[ 9.80136288e-01 -5.52943798e-02 -1.90460988e-01  1.43702389e+02]
 [ 5.77001948e-02  9.98308674e-01  7.10484518e-03 -4.07926241e+00]
 [ 1.89745999e-01 -1.79533527e-02  9.81669055e-01  2.75472130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.56486062399998 meters
Centerline goodness : 0.998128 with order 1
Centerline is valid?  [True, True]
Translation: X:143.76, Y:-4.08, Z:27.56
[[ 9.80245943e-01 -5.33142990e-02 -1.90461221e-01  1.43761108e+02]
 [ 5.56821960e-02  9.98423308e-01  7.09859916e-03 -4.07975137e+00]
 [ 1.89782465e-01 -1.75636721e-02  9.81669055e-01  2.75623907e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.62486062399998 meters
Centerline goodness : 0.998102 with order 1
Centerline is valid?  [True, True]
Translation: X:143.82, Y:-4.08, Z:27.58
[[ 9.80372368e-01 -5.09365886e-02 -1.90461242e-01  1.43819274e+02]
 [ 5.32602810e-02  9.98555437e-01  7.09803374e-03 -4.07946320e+00]
 [ 1.89824559e-01 -1.71027354e-02  9.81669055e-01  2.75754087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.68486062399998 meters
Centerline goodness : 0.997657 with order 1
Centerline is valid?  [True, True]
Translation: X:143.88, Y:-4.08, Z:27.59
[[ 9.80377677e-01 -5.08334278e-02 -1.90461473e-01  1.43876532e+02]
 [ 5.31540124e-02  9.98561143e-01  7.09183580e-03 -4.08058161e+00]
 [ 1.89826924e-01 -1.70764690e-02  9.81669055e-01  2.75864563e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.74486062399998 meters
Centerline goodness : 0.998049 with order 1
Centerline is valid?  [True, True]
Translation: X:143.94, Y:-4.08, Z:27.60
[[ 9.80280725e-01 -5.26667661e-02 -1.90462364e-01  1.43935029e+02]
 [ 5.50167257e-02  9.98460418e-01  7.06782408e-03 -4.08203957e+00]
 [ 1.89796892e-01 -1.74070674e-02  9.81669055e-01  2.75974478e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.80486062399999 meters
Centerline goodness : 0.997605 with order 1
Centerline is valid?  [True, True]
Translation: X:143.99, Y:-4.08, Z:27.61
[[ 9.80087814e-01 -5.61415900e-02 -1.90462593e-01  1.43994056e+02]
 [ 5.85547951e-02  9.98259219e-01  7.06165566e-03 -4.08293627e+00]
 [ 1.89734586e-01 -1.80735407e-02  9.81669055e-01  2.76085620e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.864860624 meters
Centerline goodness : 0.998072 with order 1
Centerline is valid?  [True, True]
Translation: X:144.05, Y:-4.08, Z:27.62
[[ 9.79994369e-01 -5.77496873e-02 -1.90462621e-01  1.44050965e+02]
 [ 6.01925577e-02  9.98161810e-01  7.06088766e-03 -4.08480117e+00]
 [ 1.89704751e-01 -1.83840625e-02  9.81669055e-01  2.76194925e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.924860624 meters
Centerline goodness : 0.998169 with order 1
Centerline is valid?  [True, True]
Translation: X:144.11, Y:-4.09, Z:27.63
[[ 9.79797689e-01 -6.09939864e-02 -1.90463179e-01  1.44109729e+02]
 [ 6.34940916e-02  9.97957342e-01  7.04581144e-03 -4.08690870e+00]
 [ 1.89644376e-01 -1.89967563e-02  9.81669055e-01  2.76335432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 145.984860624 meters
Centerline goodness : 0.998319 with order 1
Centerline is valid?  [True, True]
Translation: X:144.17, Y:-4.09, Z:27.64
[[ 9.79433397e-01 -6.65879701e-02 -1.90463286e-01  1.44168801e+02]
 [ 6.91911762e-02  9.97578558e-01  7.04291951e-03 -4.08839013e+00]
 [ 1.89533116e-01 -2.00764493e-02  9.81669055e-01  2.76416991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.04486062399997 meters
Centerline goodness : 0.998197 with order 1
Centerline is valid?  [True, True]
Translation: X:144.23, Y:-4.09, Z:27.65
[[ 9.79075868e-01 -7.16529039e-02 -1.90463401e-01  1.44228095e+02]
 [ 7.43493288e-02  9.97207410e-01  7.03981337e-03 -4.08871960e+00]
 [ 1.89427091e-01 -2.10533374e-02  9.81669055e-01  2.76538057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.10486062399997 meters
Centerline goodness : 0.997920 with order 1
Centerline is valid?  [True, True]
Translation: X:144.29, Y:-4.09, Z:27.67
[[ 9.78924067e-01 -7.36977579e-02 -1.90463412e-01  1.44287215e+02]
 [ 7.64319897e-02  9.97049947e-01  7.03950760e-03 -4.08953860e+00]
 [ 1.89382739e-01 -2.14486409e-02  9.81669055e-01  2.76679413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.16486062399997 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:144.35, Y:-4.09, Z:27.68
[[ 9.78915575e-01 -7.38107749e-02 -1.90463297e-01  1.44346967e+02]
 [ 7.65476983e-02  9.97041048e-01  7.04262537e-03 -4.09014890e+00]
 [ 1.89379903e-01 -2.14736626e-02  9.81669055e-01  2.76816179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.22486062399997 meters
Centerline goodness : 0.998234 with order 1
Centerline is valid?  [True, True]
Translation: X:144.41, Y:-4.09, Z:27.69
[[ 9.78966227e-01 -7.31367993e-02 -1.90462951e-01  1.44407260e+02]
 [ 7.58630348e-02  9.97093311e-01  7.05195234e-03 -4.09061639e+00]
 [ 1.89393577e-01 -2.13527207e-02  9.81669055e-01  2.76945802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.28486062399998 meters
Centerline goodness : 0.998161 with order 1
Centerline is valid?  [True, True]
Translation: X:144.47, Y:-4.09, Z:27.71
[[ 9.79020301e-01 -7.24099554e-02 -1.90462725e-01  1.44467694e+02]
 [ 7.51239067e-02  9.97149228e-01  7.05806685e-03 -4.09241898e+00]
 [ 1.89408684e-01 -2.12182947e-02  9.81669055e-01  2.77070496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.34486062399998 meters
Centerline goodness : 0.998405 with order 1
Centerline is valid?  [True, True]
Translation: X:144.53, Y:-4.09, Z:27.72
[[ 9.79022786e-01 -7.23775783e-02 -1.90462258e-01  1.44526898e+02]
 [ 7.50933467e-02  9.97151440e-01  7.07064524e-03 -4.09480032e+00]
 [ 1.89407958e-01 -2.12247712e-02  9.81669055e-01  2.77166865e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.40486062399998 meters
Centerline goodness : 0.998311 with order 1
Centerline is valid?  [True, True]
Translation: X:144.59, Y:-4.10, Z:27.73
[[ 9.79003471e-01 -7.26383634e-02 -1.90462258e-01  1.44586395e+02]
 [ 7.53589608e-02  9.97131402e-01  7.07064524e-03 -4.09752042e+00]
 [ 1.89402298e-01 -2.12752240e-02  9.81669055e-01  2.77288593e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.46486062399998 meters
Centerline goodness : 0.998384 with order 1
Centerline is valid?  [True, True]
Translation: X:144.65, Y:-4.10, Z:27.74
[[ 9.79045641e-01 -7.20683426e-02 -1.90462035e-01  1.44647435e+02]
 [ 7.47795372e-02  9.97174981e-01  7.07664282e-03 -4.09995652e+00]
 [ 1.89413974e-01 -2.11710191e-02  9.81669055e-01  2.77396644e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.52486062399998 meters
Centerline goodness : 0.998210 with order 1
Centerline is valid?  [True, True]
Translation: X:144.71, Y:-4.10, Z:27.75
[[ 9.79141817e-01 -7.07509168e-02 -1.90461573e-01  1.44706022e+02]
 [ 7.34400987e-02  9.97274434e-01  7.08904750e-03 -4.10121274e+00]
 [ 1.89440901e-01 -2.09286996e-02  9.81669056e-01  2.77490406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.584860624 meters
Centerline goodness : 0.998131 with order 1
Centerline is valid?  [True, True]
Translation: X:144.77, Y:-4.10, Z:27.76
[[ 9.79231521e-01 -6.94979980e-02 -1.90461695e-01  1.44766442e+02]
 [ 7.21633456e-02  9.97367657e-01  7.08576712e-03 -4.10226759e+00]
 [ 1.89467888e-01 -2.06829596e-02  9.81669056e-01  2.77624459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.644860624 meters
Centerline goodness : 0.998274 with order 1
Centerline is valid?  [True, True]
Translation: X:144.83, Y:-4.10, Z:27.78
[[ 9.79288146e-01 -6.86964864e-02 -1.90461337e-01  1.44826664e+02]
 [ 7.13488392e-02  9.97426187e-01  7.09539279e-03 -4.10222499e+00]
 [ 1.89483696e-01 -2.05376293e-02  9.81669056e-01  2.77754947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.704860624 meters
Centerline goodness : 0.998570 with order 1
Centerline is valid?  [True, True]
Translation: X:144.89, Y:-4.10, Z:27.79
[[ 9.79208915e-01 -6.98174151e-02 -1.90461099e-01  1.44886663e+02]
 [ 7.24917529e-02  9.97343727e-01  7.10176331e-03 -4.10279741e+00]
 [ 1.89459356e-01 -2.07609689e-02  9.81669056e-01  2.77883889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.764860624 meters
Centerline goodness : 0.997955 with order 1
Centerline is valid?  [True, True]
Translation: X:144.95, Y:-4.10, Z:27.80
[[ 9.79059209e-01 -7.18868959e-02 -1.90460859e-01  1.44946237e+02]
 [ 7.46007912e-02  9.97188145e-01  7.10818649e-03 -4.10428957e+00]
 [ 1.89414326e-01 -2.11678662e-02  9.81669056e-01  2.77998390e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.82486062399997 meters
Centerline goodness : 0.998296 with order 1
Centerline is valid?  [True, True]
Translation: X:145.01, Y:-4.11, Z:27.81
[[ 9.78892636e-01 -7.41205573e-02 -1.90460890e-01  1.45005921e+02]
 [ 7.68756512e-02  9.97015356e-01  7.10736496e-03 -4.10586049e+00]
 [ 1.89365630e-01 -2.15991522e-02  9.81669056e-01  2.78112961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.88486062399997 meters
Centerline goodness : 0.998717 with order 1
Centerline is valid?  [True, True]
Translation: X:145.07, Y:-4.11, Z:27.82
[[ 9.78821335e-01 -7.50565662e-02 -1.90460774e-01  1.45066237e+02]
 [ 7.78295856e-02  9.96941321e-01  7.11047529e-03 -4.10745044e+00]
 [ 1.89344528e-01 -2.17833680e-02  9.81669056e-01  2.78215394e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 146.94486062399997 meters
Centerline goodness : 0.998247 with order 1
Centerline is valid?  [True, True]
Translation: X:145.12, Y:-4.11, Z:27.83
[[ 9.78852789e-01 -7.46458453e-02 -1.90460537e-01  1.45124984e+02]
 [ 7.74124800e-02  9.96973750e-01  7.11682128e-03 -4.10815581e+00]
 [ 1.89352915e-01 -2.17103429e-02  9.81669056e-01  2.78323108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.00486062399997 meters
Centerline goodness : 0.998171 with order 1
Centerline is valid?  [True, True]
Translation: X:145.18, Y:-4.11, Z:27.84
[[ 9.78794838e-01 -7.54018795e-02 -1.90460552e-01  1.45183527e+02]
 [ 7.81824326e-02  9.96913669e-01  7.11641939e-03 -4.11098064e+00]
 [ 1.89336136e-01 -2.18561838e-02  9.81669056e-01  2.78437729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.06486062399998 meters
Centerline goodness : 0.998246 with order 1
Centerline is valid?  [True, True]
Translation: X:145.24, Y:-4.11, Z:27.86
[[ 9.78642319e-01 -7.73562490e-02 -1.90460552e-01  1.45243021e+02]
 [ 8.01729775e-02  9.96755562e-01  7.11641939e-03 -4.11322032e+00]
 [ 1.89292115e-01 -2.22342187e-02  9.81669056e-01  2.78582148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.12486062399998 meters
Centerline goodness : 0.998298 with order 1
Centerline is valid?  [True, True]
Translation: X:145.30, Y:-4.12, Z:27.87
[[ 9.78475955e-01 -7.94333348e-02 -1.90460367e-01  1.45302392e+02]
 [ 8.22894541e-02  9.96583028e-01  7.12137056e-03 -4.11659832e+00]
 [ 1.89243895e-01 -2.26409695e-02  9.81669056e-01  2.78685447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.18486062399998 meters
Centerline goodness : 0.998302 with order 1
Centerline is valid?  [True, True]
Translation: X:145.36, Y:-4.12, Z:27.88
[[ 9.78329638e-01 -8.12156044e-02 -1.90460348e-01  1.45362534e+02]
 [ 8.41048002e-02  9.96431464e-01  7.12187727e-03 -4.12039062e+00]
 [ 1.89202275e-01 -2.29861731e-02  9.81669056e-01  2.78799480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.24486062399998 meters
Centerline goodness : 0.998185 with order 1
Centerline is valid?  [True, True]
Translation: X:145.42, Y:-4.12, Z:27.89
[[ 9.78300583e-01 -8.15654315e-02 -1.90460102e-01  1.45422715e+02]
 [ 8.44623577e-02  9.96401172e-01  7.12843370e-03 -4.12285605e+00]
 [ 1.89193235e-01 -2.30604601e-02  9.81669056e-01  2.78916843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.30486062399999 meters
Centerline goodness : 0.998156 with order 1
Centerline is valid?  [True, True]
Translation: X:145.48, Y:-4.13, Z:27.90
[[ 9.78375711e-01 -8.06598467e-02 -1.90459859e-01  1.45483244e+02]
 [ 8.35412641e-02  9.96478775e-01  7.13493336e-03 -4.12517896e+00]
 [ 1.89213704e-01 -2.28919029e-02  9.81669056e-01  2.79043817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.364860624 meters
Centerline goodness : 0.998751 with order 1
Centerline is valid?  [True, True]
Translation: X:145.54, Y:-4.13, Z:27.91
[[ 9.78421692e-01 -8.01010248e-02 -1.90459495e-01  1.45543399e+02]
 [ 8.29739653e-02  9.96526104e-01  7.14464483e-03 -4.12954346e+00]
 [ 1.89225565e-01 -2.27936550e-02  9.81669056e-01  2.79145489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.424860624 meters
Centerline goodness : 0.998339 with order 1
Centerline is valid?  [True, True]
Translation: X:145.60, Y:-4.13, Z:27.93
[[ 9.78452971e-01 -7.97186094e-02 -1.90459251e-01  1.45604690e+02]
 [ 8.25857170e-02  9.96558308e-01  7.15112409e-03 -4.13263582e+00]
 [ 1.89233672e-01 -2.27262525e-02  9.81669056e-01  2.79258021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.484860624 meters
Centerline goodness : 0.998482 with order 1
Centerline is valid?  [True, True]
Translation: X:145.66, Y:-4.14, Z:27.94
[[ 9.78558374e-01 -7.84153553e-02 -1.90458766e-01  1.45664611e+02]
 [ 8.12608215e-02  9.96667124e-01  7.16402167e-03 -4.13526213e+00]
 [ 1.89262221e-01 -2.24872492e-02  9.81669056e-01  2.79379569e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.54486062399997 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:145.72, Y:-4.14, Z:27.95
[[ 9.78633613e-01 -7.74710795e-02 -1.90458614e-01  1.45724119e+02]
 [ 8.02998460e-02  9.96744979e-01  7.16806064e-03 -4.13889399e+00]
 [ 1.89283350e-01 -2.23087025e-02  9.81669056e-01  2.79497177e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.60486062399997 meters
Centerline goodness : 0.997996 with order 1
Centerline is valid?  [True, True]
Translation: X:145.78, Y:-4.14, Z:27.96
[[ 9.78728336e-01 -7.62650674e-02 -1.90458615e-01  1.45784053e+02]
 [ 7.90715117e-02  9.96843175e-01  7.16805117e-03 -4.14269146e+00]
 [ 1.89310698e-01 -2.20754254e-02  9.81669056e-01  2.79645031e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.66486062399997 meters
Centerline goodness : 0.998026 with order 1
Centerline is valid?  [True, True]
Translation: X:145.84, Y:-4.15, Z:27.98
[[ 9.78742381e-01 -7.60855286e-02 -1.90458245e-01  1.45844464e+02]
 [ 7.88905317e-02  9.96857443e-01  7.17785326e-03 -4.14747936e+00]
 [ 1.89313589e-01 -2.20506214e-02  9.81669056e-01  2.79774041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.72486062399997 meters
Centerline goodness : 0.998613 with order 1
Centerline is valid?  [True, True]
Translation: X:145.90, Y:-4.15, Z:27.99
[[ 9.78670113e-01 -7.70107249e-02 -1.90457759e-01  1.45903649e+02]
 [ 7.98353218e-02  9.96782130e-01  7.19072310e-03 -4.15205843e+00]
 [ 1.89291128e-01 -2.22426023e-02  9.81669056e-01  2.79876641e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.78486062399998 meters
Centerline goodness : 0.998614 with order 1
Centerline is valid?  [True, True]
Translation: X:145.96, Y:-4.16, Z:28.00
[[ 9.78616687e-01 -7.76880235e-02 -1.90457213e-01  1.45964693e+02]
 [ 8.05279237e-02  9.96726311e-01  7.20515064e-03 -4.15580219e+00]
 [ 1.89273962e-01 -2.23882046e-02  9.81669056e-01  2.79993316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.84486062399998 meters
Centerline goodness : 0.998207 with order 1
Centerline is valid?  [True, True]
Translation: X:146.02, Y:-4.16, Z:28.01
[[ 9.78358271e-01 -8.08784797e-02 -1.90456728e-01  1.46024113e+02]
 [ 8.37798723e-02  9.96458145e-01  7.21797168e-03 -4.16151467e+00]
 [ 1.89198379e-01 -2.30182026e-02  9.81669056e-01  2.80108433e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.90486062399998 meters
Centerline goodness : 0.998456 with order 1
Centerline is valid?  [True, True]
Translation: X:146.08, Y:-4.17, Z:28.02
[[ 9.78267225e-01 -8.19724308e-02 -1.90456708e-01  1.46083763e+02]
 [ 8.48941610e-02  9.96363827e-01  7.21849316e-03 -4.16593705e+00]
 [ 1.89172457e-01 -2.32302777e-02  9.81669056e-01  2.80211172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 147.96486062399998 meters
Centerline goodness : 0.998535 with order 1
Centerline is valid?  [True, True]
Translation: X:146.14, Y:-4.17, Z:28.03
[[ 9.78270651e-01 -8.19315846e-02 -1.90456687e-01  1.46144015e+02]
 [ 8.48526641e-02  9.96367357e-01  7.21903995e-03 -4.17021033e+00]
 [ 1.89173359e-01 -2.32229322e-02  9.81669056e-01  2.80319745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.02486062399998 meters
Centerline goodness : 0.998391 with order 1
Centerline is valid?  [True, True]
Translation: X:146.20, Y:-4.17, Z:28.05
[[ 9.78352282e-01 -8.09518474e-02 -1.90456321e-01  1.46203465e+02]
 [ 8.38566525e-02  9.96451608e-01  7.22868542e-03 -4.17330278e+00]
 [ 1.89195332e-01 -2.30432304e-02  9.81669056e-01  2.80459720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.084860624 meters
Centerline goodness : 0.998366 with order 1
Centerline is valid?  [True, True]
Translation: X:146.26, Y:-4.18, Z:28.05
[[ 9.78463242e-01 -7.95996720e-02 -1.90456234e-01  1.46263774e+02]
 [ 8.24798982e-02  9.96566495e-01  7.23096509e-03 -4.17656137e+00]
 [ 1.89226720e-01 -2.27840444e-02  9.81669056e-01  2.80527164e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.144860624 meters
Centerline goodness : 0.998394 with order 1
Centerline is valid?  [True, True]
Translation: X:146.32, Y:-4.18, Z:28.07
[[ 9.78523782e-01 -7.88522565e-02 -1.90456111e-01  1.46322577e+02]
 [ 8.17192755e-02  9.96629132e-01  7.23420461e-03 -4.17970658e+00]
 [ 1.89243676e-01 -2.26427767e-02  9.81669056e-01  2.80690842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.204860624 meters
Centerline goodness : 0.997944 with order 1
Centerline is valid?  [True, True]
Translation: X:146.38, Y:-4.18, Z:28.08
[[ 9.78566680e-01 -7.83185128e-02 -1.90455938e-01  1.46382680e+02]
 [ 8.11765334e-02  9.96673452e-01  7.23877816e-03 -4.18309779e+00]
 [ 1.89255446e-01 -2.25441799e-02  9.81669056e-01  2.80812061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.264860624 meters
Centerline goodness : 0.998170 with order 1
Centerline is valid?  [True, True]
Translation: X:146.44, Y:-4.19, Z:28.09
[[ 9.78548727e-01 -7.85433937e-02 -1.90455570e-01  1.46442981e+02]
 [ 8.14074286e-02  9.96654549e-01  7.24843581e-03 -4.18794759e+00]
 [ 1.89249094e-01 -2.25974459e-02  9.81669056e-01  2.80917989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.32486062399997 meters
Centerline goodness : 0.998362 with order 1
Centerline is valid?  [True, True]
Translation: X:146.50, Y:-4.19, Z:28.10
[[ 9.78520280e-01 -7.88978835e-02 -1.90455208e-01  1.46504169e+02]
 [ 8.17703002e-02  9.96624774e-01  7.25793592e-03 -4.19212512e+00]
 [ 1.89239743e-01 -2.26756170e-02  9.81669056e-01  2.81026251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.38486062399997 meters
Centerline goodness : 0.998511 with order 1
Centerline is valid?  [True, True]
Translation: X:146.56, Y:-4.20, Z:28.12
[[ 9.78406642e-01 -8.02959466e-02 -1.90454727e-01  1.46563565e+02]
 [ 8.31966454e-02  9.96506627e-01  7.27053421e-03 -4.19591366e+00]
 [ 1.89205603e-01 -2.29587334e-02  9.81669056e-01  2.81164461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.44486062399997 meters
Centerline goodness : 0.998590 with order 1
Centerline is valid?  [True, True]
Translation: X:146.62, Y:-4.20, Z:28.13
[[ 9.78109957e-01 -8.38328898e-02 -1.90454608e-01  1.46623552e+02]
 [ 8.67996083e-02  9.96199238e-01  7.27365007e-03 -4.20089265e+00]
 [ 1.89120964e-01 -2.36458149e-02  9.81669056e-01  2.81289111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.50486062399997 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:146.68, Y:-4.20, Z:28.14
[[ 9.77916255e-01 -8.60634544e-02 -1.90454406e-01  1.46681969e+02]
 [ 8.90724371e-02  9.95998553e-01  7.27894922e-03 -4.20449273e+00]
 [ 1.89065861e-01 -2.40824408e-02  9.81669056e-01  2.81383862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.56486062399998 meters
Centerline goodness : 0.998573 with order 1
Centerline is valid?  [True, True]
Translation: X:146.74, Y:-4.21, Z:28.15
[[ 9.77811139e-01 -8.72497782e-02 -1.90454333e-01  1.46741607e+02]
 [ 9.02810617e-02  9.95889712e-01  7.28085915e-03 -4.20703854e+00]
 [ 1.89036257e-01 -2.43137245e-02  9.81669056e-01  2.81493557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.62486062399998 meters
Centerline goodness : 0.998550 with order 1
Centerline is valid?  [True, True]
Translation: X:146.80, Y:-4.21, Z:28.16
[[ 9.77646450e-01 -8.90762436e-02 -1.90454306e-01  1.46800627e+02]
 [ 9.21414282e-02  9.95719306e-01  7.28156136e-03 -4.20960638e+00]
 [ 1.88990415e-01 -2.46675244e-02  9.81669056e-01  2.81590272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.68486062399998 meters
Centerline goodness : 0.998760 with order 1
Centerline is valid?  [True, True]
Translation: X:146.86, Y:-4.21, Z:28.17
[[ 9.77588877e-01 -8.97058788e-02 -1.90454306e-01  1.46859785e+02]
 [ 9.27827026e-02  9.95659756e-01  7.28156136e-03 -4.21134432e+00]
 [ 1.88974489e-01 -2.47892386e-02  9.81669056e-01  2.81742402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.74486062399998 meters
Centerline goodness : 0.998454 with order 1
Centerline is valid?  [True, True]
Translation: X:146.92, Y:-4.21, Z:28.18
[[ 9.77681437e-01 -8.86914842e-02 -1.90454269e-01  1.46918723e+02]
 [ 9.17497423e-02  9.95755467e-01  7.28253369e-03 -4.21289600e+00]
 [ 1.88999980e-01 -2.45941281e-02  9.81669056e-01  2.81819282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.80486062399999 meters
Centerline goodness : 0.998661 with order 1
Centerline is valid?  [True, True]
Translation: X:146.98, Y:-4.21, Z:28.20
[[ 9.77843520e-01 -8.68859843e-02 -1.90454394e-01  1.46978299e+02]
 [ 8.99102343e-02  9.95923271e-01  7.27925581e-03 -4.21396560e+00]
 [ 1.89045498e-01 -2.42417723e-02  9.81669056e-01  2.81967093e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.864860624 meters
Centerline goodness : 0.998612 with order 1
Centerline is valid?  [True, True]
Translation: X:147.04, Y:-4.22, Z:28.21
[[ 9.77968110e-01 -8.54727628e-02 -1.90454149e-01  1.47036936e+02]
 [ 8.84721097e-02  9.96052009e-01  7.28566362e-03 -4.21531259e+00]
 [ 1.89079512e-01 -2.39750270e-02  9.81669056e-01  2.82073452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.924860624 meters
Centerline goodness : 0.998584 with order 1
Centerline is valid?  [True, True]
Translation: X:147.10, Y:-4.22, Z:28.22
[[ 9.78146455e-01 -8.34070087e-02 -1.90454149e-01  1.47096501e+02]
 [ 8.63681540e-02  9.96236649e-01  7.28566362e-03 -4.21516650e+00]
 [ 1.89129727e-01 -2.35756193e-02  9.81669056e-01  2.82183536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 148.984860624 meters
Centerline goodness : 0.998365 with order 1
Centerline is valid?  [True, True]
Translation: X:147.16, Y:-4.21, Z:28.23
[[ 9.78260969e-01 -8.20530765e-02 -1.90454114e-01  1.47156154e+02]
 [ 8.49893557e-02  9.96355215e-01  7.28657800e-03 -4.21490543e+00]
 [ 1.89162063e-01 -2.33147473e-02  9.81669056e-01  2.82292365e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.04486062399997 meters
Centerline goodness : 0.998617 with order 1
Centerline is valid?  [True, True]
Translation: X:147.22, Y:-4.21, Z:28.24
[[ 9.78469087e-01 -7.95329754e-02 -1.90454068e-01  1.47215022e+02]
 [ 8.24228686e-02  9.96570800e-01  7.28778425e-03 -4.21216240e+00]
 [ 1.89221343e-01 -2.28286422e-02  9.81669056e-01  2.82387672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.10486062399997 meters
Centerline goodness : 0.998459 with order 1
Centerline is valid?  [True, True]
Translation: X:147.27, Y:-4.21, Z:28.25
[[ 9.78310085e-01 -8.14651979e-02 -1.90454193e-01  1.47273974e+02]
 [ 8.43902062e-02  9.96406157e-01  7.28450758e-03 -4.20716845e+00]
 [ 1.89176296e-01 -2.31989758e-02  9.81669056e-01  2.82519133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.16486062399997 meters
Centerline goodness : 0.998088 with order 1
Centerline is valid?  [True, True]
Translation: X:147.33, Y:-4.20, Z:28.26
[[ 9.77329266e-01 -9.24914482e-02 -1.90454293e-01  1.47332411e+02]
 [ 9.56198213e-02  9.95391292e-01  7.28189267e-03 -4.20380265e+00]
 [ 1.88903032e-01 -2.53280123e-02  9.81669056e-01  2.82621846e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.22486062399997 meters
Centerline goodness : 0.998382 with order 1
Centerline is valid?  [True, True]
Translation: X:147.39, Y:-4.20, Z:28.27
[[ 9.76537255e-01 -1.00509580e-01 -1.90454229e-01  1.47391723e+02]
 [ 1.03786407e-01  9.94572939e-01  7.28355740e-03 -4.20422678e+00]
 [ 1.88688555e-01 -2.68792252e-02  9.81669056e-01  2.82728571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.28486062399998 meters
Centerline goodness : 0.998599 with order 1
Centerline is valid?  [True, True]
Translation: X:147.45, Y:-4.20, Z:28.28
[[ 9.75277509e-01 -1.12075794e-01 -1.90454185e-01  1.47450902e+02]
 [ 1.15566356e-01  9.93273049e-01  7.28470147e-03 -4.20195105e+00]
 [ 1.88356571e-01 -2.91147017e-02  9.81669056e-01  2.82846082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.34486062399998 meters
Centerline goodness : 0.998451 with order 1
Centerline is valid?  [True, True]
Translation: X:147.51, Y:-4.20, Z:28.29
[[ 9.74905743e-01 -1.15264964e-01 -1.90454140e-01  1.47509885e+02]
 [ 1.18814589e-01  9.92889727e-01  7.28588461e-03 -4.20031237e+00]
 [ 1.88260152e-01 -2.97317812e-02  9.81669056e-01  2.82947300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.40486062399998 meters
Centerline goodness : 0.998503 with order 1
Centerline is valid?  [True, True]
Translation: X:147.57, Y:-4.20, Z:28.31
[[ 9.74880252e-01 -1.15480215e-01 -1.90454229e-01  1.47570663e+02]
 [ 1.19033369e-01  9.92863539e-01  7.28356350e-03 -4.19558012e+00]
 [ 1.88253952e-01 -2.97710107e-02  9.81669056e-01  2.83105072e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.46486062399998 meters
Centerline goodness : 0.998662 with order 1
Centerline is valid?  [True, True]
Translation: X:147.63, Y:-4.19, Z:28.32
[[ 9.75562215e-01 -1.09570703e-01 -1.90453736e-01  1.47629891e+02]
 [ 1.13017274e-01  9.93566232e-01  7.29642807e-03 -4.19115554e+00]
 [ 1.88428926e-01 -2.86426816e-02  9.81669057e-01  2.83238706e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.52486062399998 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:147.69, Y:-4.19, Z:28.33
[[ 9.76163319e-01 -1.04079714e-01 -1.90453636e-01  1.47689059e+02]
 [ 1.07425423e-01  9.94186352e-01  7.29902862e-03 -4.19037520e+00]
 [ 1.88586725e-01 -2.75846065e-02  9.81669057e-01  2.83329150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.584860624 meters
Centerline goodness : 0.998847 with order 1
Centerline is valid?  [True, True]
Translation: X:147.75, Y:-4.19, Z:28.34
[[ 9.76173676e-01 -1.03982627e-01 -1.90453583e-01  1.47751080e+02]
 [ 1.07326808e-01  9.94196993e-01  7.30041347e-03 -4.19287941e+00]
 [ 1.88589264e-01 -2.75672466e-02  9.81669057e-01  2.83449655e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.644860624 meters
Centerline goodness : 0.998919 with order 1
Centerline is valid?  [True, True]
Translation: X:147.81, Y:-4.19, Z:28.36
[[ 9.76413493e-01 -1.01707451e-01 -1.90452844e-01  1.47810429e+02]
 [ 1.05013298e-01  9.94443880e-01  7.31965729e-03 -4.19376942e+00]
 [ 1.88650201e-01 -2.71470934e-02  9.81669057e-01  2.83565941e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.704860624 meters
Centerline goodness : 0.998989 with order 1
Centerline is valid?  [True, True]
Translation: X:147.87, Y:-4.19, Z:28.37
[[ 9.76847355e-01 -9.74524354e-02 -1.90452796e-01  1.47870483e+02]
 [ 1.00679934e-01  9.94891932e-01  7.32089719e-03 -4.19298181e+00]
 [ 1.88766511e-01 -2.63261740e-02  9.81669057e-01  2.83668744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.764860624 meters
Centerline goodness : 0.998908 with order 1
Centerline is valid?  [True, True]
Translation: X:147.93, Y:-4.19, Z:28.38
[[ 9.77316657e-01 -9.26277528e-02 -1.90452754e-01  1.47929789e+02]
 [ 9.57663230e-02  9.95376913e-01  7.32200482e-03 -4.19166392e+00]
 [ 1.88894053e-01 -2.53948772e-02  9.81669057e-01  2.83791660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.82486062399997 meters
Centerline goodness : 0.999410 with order 1
Centerline is valid?  [True, True]
Translation: X:147.99, Y:-4.19, Z:28.39
[[ 9.77935059e-01 -8.58531987e-02 -1.90452749e-01  1.47989283e+02]
 [ 8.88665681e-02  9.96016626e-01  7.32212658e-03 -4.18732241e+00]
 [ 1.89065476e-01 -2.40854465e-02  9.81669057e-01  2.83895002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.88486062399997 meters
Centerline goodness : 0.999277 with order 1
Centerline is valid?  [True, True]
Translation: X:148.05, Y:-4.18, Z:28.40
[[ 9.78202429e-01 -8.27511862e-02 -1.90452750e-01  1.48048712e+02]
 [ 8.57071895e-02  9.96293463e-01  7.32210490e-03 -4.18472387e+00]
 [ 1.89140917e-01 -2.34856707e-02  9.81669057e-01  2.84011456e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 149.94486062399997 meters
Centerline goodness : 0.999401 with order 1
Centerline is valid?  [True, True]
Translation: X:148.11, Y:-4.18, Z:28.41
[[ 9.78603040e-01 -7.78706347e-02 -1.90452762e-01  1.48108547e+02]
 [ 8.07362989e-02  9.96708604e-01  7.32179419e-03 -4.17971862e+00]
 [ 1.89255753e-01 -2.25415811e-02  9.81669057e-01  2.84136563e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.00486062399997 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:148.17, Y:-4.17, Z:28.43
[[ 9.78978774e-01 -7.29955097e-02 -1.90452661e-01  1.48168488e+02]
 [ 7.57714631e-02  9.97098309e-01  7.32441701e-03 -4.17457097e+00]
 [ 1.89365377e-01 -2.16013255e-02  9.81669057e-01  2.84260469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.06486062399998 meters
Centerline goodness : 0.999473 with order 1
Centerline is valid?  [True, True]
Translation: X:148.23, Y:-4.17, Z:28.44
[[ 9.79296113e-01 -6.86070497e-02 -1.90452607e-01  1.48228858e+02]
 [ 7.13020341e-02  9.97427868e-01  7.32581988e-03 -4.17181832e+00]
 [ 1.89460135e-01 -2.07538052e-02  9.81669057e-01  2.84364050e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.12486062399998 meters
Centerline goodness : 0.999417 with order 1
Centerline is valid?  [True, True]
Translation: X:148.29, Y:-4.17, Z:28.45
[[ 9.79597464e-01 -6.41611736e-02 -1.90452495e-01  1.48288785e+02]
 [ 6.67743879e-02  9.97741184e-01  7.32873417e-03 -4.16876445e+00]
 [ 1.89552077e-01 -1.98965582e-02  9.81669057e-01  2.84481856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.18486062399998 meters
Centerline goodness : 0.999254 with order 1
Centerline is valid?  [True, True]
Translation: X:148.35, Y:-4.16, Z:28.46
[[ 9.79912257e-01 -5.91594884e-02 -1.90452420e-01  1.48347015e+02]
 [ 6.16804193e-02  9.98069029e-01  7.33067958e-03 -4.16359724e+00]
 [ 1.89650982e-01 -1.89306079e-02  9.81669057e-01  2.84622316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.24486062399998 meters
Centerline goodness : 0.999359 with order 1
Centerline is valid?  [True, True]
Translation: X:148.41, Y:-4.16, Z:28.48
[[ 9.79730394e-01 -6.20981704e-02 -1.90452548e-01  1.48405519e+02]
 [ 6.46729059e-02  9.97879615e-01  7.32735394e-03 -4.16288314e+00]
 [ 1.89593700e-01 -1.94959511e-02  9.81669057e-01  2.84775519e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.30486062399999 meters
Centerline goodness : 0.999389 with order 1
Centerline is valid?  [True, True]
Translation: X:148.47, Y:-4.17, Z:28.48
[[ 9.78770405e-01 -7.57385697e-02 -1.90452523e-01  1.48466398e+02]
 [ 7.85659736e-02  9.96881983e-01  7.32799009e-03 -4.16756303e+00]
 [ 1.89303678e-01 -2.21355077e-02  9.81669057e-01  2.84832779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.364860624 meters
Centerline goodness : 0.999605 with order 1
Centerline is valid?  [True, True]
Translation: X:148.53, Y:-4.17, Z:28.49
[[ 9.77508341e-01 -9.05830714e-02 -1.90452489e-01  1.48525294e+02]
 [ 9.36851710e-02  9.95574897e-01  7.32888350e-03 -4.17445194e+00]
 [ 1.88945844e-01 -2.50066187e-02  9.81669057e-01  2.84897234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.424860624 meters
Centerline goodness : 0.999502 with order 1
Centerline is valid?  [True, True]
Translation: X:148.58, Y:-4.18, Z:28.50
[[ 9.76845089e-01 -9.74758167e-02 -1.90452456e-01  1.48584446e+02]
 [ 1.00705440e-01  9.94889285e-01  7.32975085e-03 -4.17917613e+00]
 [ 1.88764634e-01 -2.63396295e-02  9.81669057e-01  2.85034709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.484860624 meters
Centerline goodness : 0.999530 with order 1
Centerline is valid?  [True, True]
Translation: X:148.64, Y:-4.18, Z:28.52
[[ 9.76413740e-01 -1.01705824e-01 -1.90452444e-01  1.48643229e+02]
 [ 1.05013627e-01  9.94443768e-01  7.33004769e-03 -4.18265446e+00]
 [ 1.88648738e-01 -2.71572612e-02  9.81669057e-01  2.85184814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.54486062399997 meters
Centerline goodness : 0.999478 with order 1
Centerline is valid?  [True, True]
Translation: X:148.70, Y:-4.19, Z:28.53
[[ 9.76298647e-01 -1.02804895e-01 -1.90452371e-01  1.48703557e+02]
 [ 1.06133357e-01  9.94324873e-01  7.33195668e-03 -4.18722210e+00]
 [ 1.88617768e-01 -2.73715287e-02  9.81669057e-01  2.85319995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.60486062399997 meters
Centerline goodness : 0.999533 with order 1
Centerline is valid?  [True, True]
Translation: X:148.76, Y:-4.19, Z:28.55
[[ 9.76090195e-01 -1.04768542e-01 -1.90450739e-01  1.48761434e+02]
 [ 1.08141306e-01  9.94108183e-01  7.37410439e-03 -4.19375313e+00]
 [ 1.88556064e-01 -2.77933827e-02  9.81669058e-01  2.85457849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.66486062399997 meters
Centerline goodness : 0.999431 with order 1
Centerline is valid?  [True, True]
Translation: X:148.82, Y:-4.20, Z:28.56
[[ 9.76173127e-01 -1.03992816e-01 -1.90450832e-01  1.48821189e+02]
 [ 1.07350799e-01  9.94193877e-01  7.37168753e-03 -4.20087046e+00]
 [ 1.88578449e-01 -2.76410923e-02  9.81669058e-01  2.85573309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.72486062399997 meters
Centerline goodness : 0.999484 with order 1
Centerline is valid?  [True, True]
Translation: X:148.88, Y:-4.21, Z:28.57
[[ 9.76430106e-01 -1.01552084e-01 -1.90450577e-01  1.48879564e+02]
 [ 1.04866265e-01  9.94458962e-01  7.37828431e-03 -4.20676806e+00]
 [ 1.88646003e-01 -2.71762196e-02  9.81669058e-01  2.85687319e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.78486062399998 meters
Centerline goodness : 0.999228 with order 1
Centerline is valid?  [True, True]
Translation: X:148.94, Y:-4.21, Z:28.58
[[ 9.77034967e-01 -9.55573847e-02 -1.90450675e-01  1.48938692e+02]
 [ 9.87603670e-02  9.95083910e-01  7.37574654e-03 -4.21346067e+00]
 [ 1.88809595e-01 -2.60153408e-02  9.81669058e-01  2.85805383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.84486062399998 meters
Centerline goodness : 0.999104 with order 1
Centerline is valid?  [True, True]
Translation: X:149.00, Y:-4.22, Z:28.59
[[ 9.77442717e-01 -9.12921995e-02 -1.90450702e-01  1.48997179e+02]
 [ 9.44162458e-02  9.95505490e-01  7.37506336e-03 -4.21853632e+00]
 [ 1.88921433e-01 -2.51903422e-02  9.81669058e-01  2.85917725e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.90486062399998 meters
Centerline goodness : 0.999156 with order 1
Centerline is valid?  [True, True]
Translation: X:149.06, Y:-4.23, Z:28.60
[[ 9.78118482e-01 -8.37424087e-02 -1.90450634e-01  1.49055605e+02]
 [ 8.67272297e-02  9.96204783e-01  7.37680991e-03 -4.22563277e+00]
 [ 1.89110081e-01 -2.37326500e-02  9.81669058e-01  2.86004341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 150.96486062399998 meters
Centerline goodness : 0.998976 with order 1
Centerline is valid?  [True, True]
Translation: X:149.12, Y:-4.23, Z:28.61
[[ 9.78504833e-01 -7.91002759e-02 -1.90450618e-01  1.49115643e+02]
 [ 8.19993223e-02  9.96605081e-01  7.37722140e-03 -4.23026733e+00]
 [ 1.89220513e-01 -2.28354684e-02  9.81669058e-01  2.86109653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.02486062399998 meters
Centerline goodness : 0.998902 with order 1
Centerline is valid?  [True, True]
Translation: X:149.17, Y:-4.24, Z:28.62
[[ 9.78871575e-01 -7.44248020e-02 -1.90450489e-01  1.49174760e+02]
 [ 7.72379825e-02  9.96985367e-01  7.38053773e-03 -4.23534463e+00]
 [ 1.89327056e-01 -2.19346102e-02  9.81669058e-01  2.86219566e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.084860624 meters
Centerline goodness : 0.998930 with order 1
Centerline is valid?  [True, True]
Translation: X:149.23, Y:-4.24, Z:28.63
[[ 9.79022584e-01 -7.24112389e-02 -1.90450501e-01  1.49233188e+02]
 [ 7.51870989e-02  9.97142132e-01  7.38024101e-03 -4.23933667e+00]
 [ 1.89371806e-01 -2.15448433e-02  9.81669058e-01  2.86322820e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.144860624 meters
Centerline goodness : 0.998805 with order 1
Centerline is valid?  [True, True]
Translation: X:149.29, Y:-4.24, Z:28.64
[[ 9.79105373e-01 -7.12827242e-02 -1.90450630e-01  1.49294254e+02]
 [ 7.40370556e-02  9.97228206e-01  7.37690264e-03 -4.24456978e+00]
 [ 1.89396895e-01 -2.13231689e-02  9.81669058e-01  2.86435339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.204860624 meters
Centerline goodness : 0.998960 with order 1
Centerline is valid?  [True, True]
Translation: X:149.36, Y:-4.25, Z:28.65
[[ 9.79012281e-01 -7.25513345e-02 -1.90450146e-01  1.49355152e+02]
 [ 7.53315407e-02  9.97131163e-01  7.38937216e-03 -4.24871074e+00]
 [ 1.89367667e-01 -2.15811891e-02  9.81669058e-01  2.86538532e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.264860624 meters
Centerline goodness : 0.998862 with order 1
Centerline is valid?  [True, True]
Translation: X:149.41, Y:-4.25, Z:28.66
[[ 9.78775931e-01 -7.56743090e-02 -1.90449667e-01  1.49414533e+02]
 [ 7.85146730e-02  9.96885480e-01  7.40170538e-03 -4.25238339e+00]
 [ 1.89296389e-01 -2.21977044e-02  9.81669058e-01  2.86632132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.32486062399997 meters
Centerline goodness : 0.998313 with order 1
Centerline is valid?  [True, True]
Translation: X:149.47, Y:-4.26, Z:28.68
[[ 9.78580896e-01 -7.81559935e-02 -1.90449656e-01  1.49473816e+02]
 [ 8.10423252e-02  9.96683175e-01  7.40199484e-03 -4.25593994e+00]
 [ 1.89239458e-01 -2.26779337e-02  9.81669058e-01  2.86752835e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.38486062399997 meters
Centerline goodness : 0.998472 with order 1
Centerline is valid?  [True, True]
Translation: X:149.53, Y:-4.26, Z:28.69
[[ 9.78512248e-01 -7.90110057e-02 -1.90449578e-01  1.49534139e+02]
 [ 8.19135367e-02  9.96611937e-01  7.40399371e-03 -4.25825267e+00]
 [ 1.89219326e-01 -2.28452970e-02  9.81669058e-01  2.86887017e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.44486062399997 meters
Centerline goodness : 0.998623 with order 1
Centerline is valid?  [True, True]
Translation: X:149.60, Y:-4.26, Z:28.70
[[ 9.78539388e-01 -7.86753636e-02 -1.90449083e-01  1.49595468e+02]
 [ 8.15741242e-02  9.96639682e-01  7.41670321e-03 -4.26054764e+00]
 [ 1.89225602e-01 -2.27932534e-02  9.81669058e-01  2.87010427e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.50486062399997 meters
Centerline goodness : 0.998393 with order 1
Centerline is valid?  [True, True]
Translation: X:149.66, Y:-4.26, Z:28.71
[[ 9.78558576e-01 -7.84378279e-02 -1.90448472e-01  1.49656006e+02]
 [ 8.13352020e-02  9.96659092e-01  7.43237841e-03 -4.26149141e+00]
 [ 1.89229221e-01 -2.27631825e-02  9.81669058e-01  2.87113211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.56486062399998 meters
Centerline goodness : 0.998432 with order 1
Centerline is valid?  [True, True]
Translation: X:149.72, Y:-4.26, Z:28.72
[[ 9.78640970e-01 -7.74039393e-02 -1.90448110e-01  1.49717188e+02]
 [ 8.02839649e-02  9.96744254e-01  7.44163664e-03 -4.26090954e+00]
 [ 1.89252047e-01 -2.25726199e-02  9.81669058e-01  2.87223936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.62486062399998 meters
Centerline goodness : 0.998200 with order 1
Centerline is valid?  [True, True]
Translation: X:149.78, Y:-4.26, Z:28.73
[[ 9.78659362e-01 -7.71722246e-02 -1.90447631e-01  1.49778980e+02]
 [ 8.00503112e-02  9.96762955e-01  7.45387032e-03 -4.25921521e+00]
 [ 1.89255912e-01 -2.25401921e-02  9.81669058e-01  2.87326902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.68486062399998 meters
Centerline goodness : 0.998213 with order 1
Centerline is valid?  [True, True]
Translation: X:149.84, Y:-4.25, Z:28.74
[[ 9.78692142e-01 -7.67565650e-02 -1.90447158e-01  1.49840911e+02]
 [ 7.96292757e-02  9.96796588e-01  7.46592527e-03 -4.25405047e+00]
 [ 1.89264019e-01 -2.24720117e-02  9.81669058e-01  2.87430862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.74486062399998 meters
Centerline goodness : 0.998252 with order 1
Centerline is valid?  [True, True]
Translation: X:149.90, Y:-4.25, Z:28.75
[[ 9.78752638e-01 -7.59825104e-02 -1.90446664e-01  1.49900513e+02]
 [ 7.88433163e-02  9.96858969e-01  7.47850742e-03 -4.24942665e+00]
 [ 1.89280230e-01 -2.23350555e-02  9.81669058e-01  2.87513248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.80486062399999 meters
Centerline goodness : 0.998275 with order 1
Centerline is valid?  [True, True]
Translation: X:149.96, Y:-4.24, Z:28.76
[[ 9.79002925e-01 -7.26863690e-02 -1.90446750e-01  1.49960566e+02]
 [ 7.54857700e-02  9.97118851e-01  7.47632057e-03 -4.23759671e+00]
 [ 1.89354618e-01 -2.16953593e-02  9.81669058e-01  2.87614896e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.864860624 meters
Centerline goodness : 0.997672 with order 1
Centerline is valid?  [True, True]
Translation: X:150.02, Y:-4.23, Z:28.77
[[ 9.79200665e-01 -6.99722229e-02 -1.90446702e-01  1.50020724e+02]
 [ 7.27216282e-02  9.97324246e-01  7.47753704e-03 -4.22916226e+00]
 [ 1.89413894e-01 -2.11716035e-02  9.81669058e-01  2.87727154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.924860624 meters
Centerline goodness : 0.997748 with order 1
Centerline is valid?  [True, True]
Translation: X:150.08, Y:-4.21, Z:28.78
[[ 9.79436366e-01 -6.65919834e-02 -1.90446616e-01  1.50080341e+02]
 [ 6.92792400e-02  9.97569266e-01  7.47973971e-03 -4.21440550e+00]
 [ 1.89485600e-01 -2.05199259e-02  9.81669058e-01  2.87839874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 151.984860624 meters
Centerline goodness : 0.997977 with order 1
Centerline is valid?  [True, True]
Translation: X:150.14, Y:-4.20, Z:28.80
[[ 9.79504780e-01 -6.55778358e-02 -1.90446668e-01  1.50140929e+02]
 [ 6.82460602e-02  9.97640491e-01  7.47840806e-03 -4.20494925e+00]
 [ 1.89506890e-01 -2.03223712e-02  9.81669058e-01  2.87952014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.04486062399997 meters
Centerline goodness : 0.997394 with order 1
Centerline is valid?  [True, True]
Translation: X:150.20, Y:-4.19, Z:28.81
[[ 9.79522886e-01 -6.53071872e-02 -1.90446548e-01  1.50202270e+02]
 [ 6.79709868e-02  9.97659247e-01  7.48145860e-03 -4.18856954e+00]
 [ 1.89512167e-01 -2.02730998e-02  9.81669058e-01  2.88050062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.10486062399997 meters
Centerline goodness : 0.997332 with order 1
Centerline is valid?  [True, True]
Translation: X:150.26, Y:-4.17, Z:28.81
[[ 9.79536469e-01 -6.51038491e-02 -1.90446306e-01  1.50263163e+02]
 [ 6.77650696e-02  9.97673208e-01  7.48762686e-03 -4.17194886e+00]
 [ 1.89515704e-01 -2.02400107e-02  9.81669058e-01  2.88135256e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.16486062399997 meters
Centerline goodness : 0.997263 with order 1
Centerline is valid?  [True, True]
Translation: X:150.32, Y:-4.16, Z:28.82
[[ 9.79599679e-01 -6.41460743e-02 -1.90446185e-01  1.50322461e+02]
 [ 6.67901521e-02  9.97738926e-01  7.49070539e-03 -4.16069332e+00]
 [ 1.89535073e-01 -2.00578222e-02  9.81669058e-01  2.88232070e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.22486062399997 meters
Centerline goodness : 0.997320 with order 1
Centerline is valid?  [True, True]
Translation: X:150.38, Y:-4.14, Z:28.84
[[ 9.79771906e-01 -6.14591114e-02 -1.90446289e-01  1.50383028e+02]
 [ 6.40529185e-02  9.97918410e-01  7.48804979e-03 -4.14186127e+00]
 [ 1.89589649e-01 -1.95352215e-02  9.81669058e-01  2.88350206e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.28486062399998 meters
Centerline goodness : 0.997019 with order 1
Centerline is valid?  [True, True]
Translation: X:150.44, Y:-4.13, Z:28.85
[[ 9.80010218e-01 -5.75346245e-02 -1.90446162e-01  1.50442266e+02]
 [ 6.00563572e-02  9.98166877e-01  7.49128894e-03 -4.12977050e+00]
 [ 1.89666042e-01 -1.87790424e-02  9.81669058e-01  2.88480226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.34486062399998 meters
Centerline goodness : 0.996846 with order 1
Centerline is valid?  [True, True]
Translation: X:150.50, Y:-4.12, Z:28.87
[[ 9.80389683e-01 -5.06586146e-02 -1.90446253e-01  1.50500408e+02]
 [ 5.30524748e-02  9.98563643e-01  7.48898017e-03 -4.11830762e+00]
 [ 1.89793323e-01 -1.74457639e-02  9.81669058e-01  2.88677084e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.40486062399998 meters
Centerline goodness : 0.998008 with order 1
Centerline is valid?  [True, True]
Translation: X:150.56, Y:-4.12, Z:28.87
[[ 9.80441680e-01 -4.96420157e-02 -1.90446274e-01  1.50558395e+02]
 [ 5.20169275e-02  9.98618126e-01  7.48844821e-03 -4.12457651e+00]
 [ 1.89811359e-01 -1.72484168e-02  9.81669058e-01  2.88718653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.46486062399998 meters
Centerline goodness : 0.999021 with order 1
Centerline is valid?  [True, True]
Translation: X:150.62, Y:-4.13, Z:28.88
[[ 9.80507582e-01 -4.83193307e-02 -1.90447171e-01  1.50618079e+02]
 [ 5.06653091e-02  9.98687785e-01  7.46555779e-03 -4.13082800e+00]
 [ 1.89836532e-01 -1.69691008e-02  9.81669059e-01  2.88816455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.52486062399998 meters
Centerline goodness : 0.999047 with order 1
Centerline is valid?  [True, True]
Translation: X:150.68, Y:-4.13, Z:28.89
[[ 9.80645609e-01 -4.54318872e-02 -1.90447193e-01  1.50676265e+02]
 [ 4.77242131e-02  9.98832655e-01  7.46499546e-03 -4.13075130e+00]
 [ 1.89885727e-01 -1.64094574e-02  9.81669059e-01  2.88923712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.584860624 meters
Centerline goodness : 0.999284 with order 1
Centerline is valid?  [True, True]
Translation: X:150.73, Y:-4.13, Z:28.90
[[ 9.80753871e-01 -4.30246197e-02 -1.90448748e-01  1.50734956e+02]
 [ 4.52646048e-02  9.98947438e-01  7.42510929e-03 -4.13059815e+00]
 [ 1.89928826e-01 -1.59027920e-02  9.81669059e-01  2.89031415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.644860624 meters
Centerline goodness : 0.999309 with order 1
Centerline is valid?  [True, True]
Translation: X:150.79, Y:-4.13, Z:28.92
[[ 9.80818733e-01 -4.15190343e-02 -1.90448900e-01  1.50793723e+02]
 [ 4.37303363e-02  9.99015807e-01  7.42121070e-03 -4.13194966e+00]
 [ 1.89953340e-01 -1.56072569e-02  9.81669059e-01  2.89171460e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.704860624 meters
Centerline goodness : 0.999608 with order 1
Centerline is valid?  [True, True]
Translation: X:150.85, Y:-4.13, Z:28.93
[[ 9.80853839e-01 -4.06811443e-02 -1.90448922e-01  1.50852645e+02]
 [ 4.28767915e-02  9.99052809e-01  7.42064583e-03 -4.13347067e+00]
 [ 1.89966650e-01 -1.54444077e-02  9.81669059e-01  2.89296365e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.76486062399997 meters
Centerline goodness : 0.999699 with order 1
Centerline is valid?  [True, True]
Translation: X:150.91, Y:-4.13, Z:28.94
[[ 9.80899778e-01 -3.95563058e-02 -1.90449269e-01  1.50908969e+02]
 [ 4.17293623e-02  9.99101460e-01  7.41173412e-03 -4.13354504e+00]
 [ 1.89984962e-01 -1.52174949e-02  9.81669059e-01  2.89417662e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.82486062399997 meters
Centerline goodness : 0.999849 with order 1
Centerline is valid?  [True, True]
Translation: X:150.97, Y:-4.13, Z:28.96
[[ 9.81010809e-01 -3.66953936e-02 -1.90450102e-01  1.50967666e+02]
 [ 3.88112156e-02  9.99219232e-01  7.39027660e-03 -4.13454170e+00]
 [ 1.90030215e-01 -1.46415412e-02  9.81669060e-01  2.89571173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.88486062399997 meters
Centerline goodness : 0.999728 with order 1
Centerline is valid?  [True, True]
Translation: X:151.02, Y:-4.14, Z:28.97
[[ 9.81057423e-01 -3.54270595e-02 -1.90450143e-01  1.51024701e+02]
 [ 3.75191308e-02  9.99268590e-01  7.38919877e-03 -4.13691654e+00]
 [ 1.90049069e-01 -1.43947521e-02  9.81669060e-01  2.89674382e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 152.94486062399997 meters
Centerline goodness : 0.999849 with order 1
Centerline is valid?  [True, True]
Translation: X:151.08, Y:-4.14, Z:28.98
[[ 9.81079516e-01 -3.48006476e-02 -1.90451825e-01  1.51082111e+02]
 [ 3.68726757e-02  9.99292974e-01  7.34560632e-03 -4.14049683e+00]
 [ 1.90061539e-01 -1.42290923e-02  9.81669061e-01  2.89805172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.00486062399997 meters
Centerline goodness : 0.999820 with order 1
Centerline is valid?  [True, True]
Translation: X:151.14, Y:-4.14, Z:28.99
[[ 9.81049202e-01 -3.56357407e-02 -1.90453554e-01  1.51139193e+02]
 [ 3.77145631e-02  9.99261885e-01  7.30049206e-03 -4.14270043e+00]
 [ 1.90052819e-01 -1.43450145e-02  9.81669062e-01  2.89913942e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.06486062399998 meters
Centerline goodness : 0.999849 with order 1
Centerline is valid?  [True, True]
Translation: X:151.20, Y:-4.15, Z:29.01
[[ 9.81063176e-01 -3.52398247e-02 -1.90455244e-01  1.51196660e+02]
 [ 3.73027363e-02  9.99277666e-01  7.25614658e-03 -4.14515778e+00]
 [ 1.90061967e-01 -1.42232400e-02  9.81669063e-01  2.90058411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.12486062399998 meters
Centerline goodness : 0.999820 with order 1
Centerline is valid?  [True, True]
Translation: X:151.25, Y:-4.15, Z:29.02
[[ 9.81025402e-01 -3.62677555e-02 -1.90456845e-01  1.51254630e+02]
 [ 3.83415926e-02  9.99238651e-01  7.21388232e-03 -4.14762011e+00]
 [ 1.90050210e-01 -1.43794206e-02  9.81669063e-01  2.90160378e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.18486062399998 meters
Centerline goodness : 0.999701 with order 1
Centerline is valid?  [True, True]
Translation: X:151.31, Y:-4.15, Z:29.03
[[ 9.81083200e-01 -3.46670682e-02 -1.90457209e-01  1.51312174e+02]
 [ 3.67093311e-02  9.99300017e-01  7.20427559e-03 -4.15054997e+00]
 [ 1.90074141e-01 -1.40595505e-02  9.81669063e-01  2.90271605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.24486062399998 meters
Centerline goodness : 0.999851 with order 1
Centerline is valid?  [True, True]
Translation: X:151.37, Y:-4.16, Z:29.04
[[ 9.81199084e-01 -3.12054794e-02 -1.90458853e-01  1.51371107e+02]
 [ 3.31750089e-02  9.99423907e-01  7.16052950e-03 -4.15501981e+00]
 [ 1.90125684e-01 -1.33443791e-02  9.81669064e-01  2.90383237e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.30486062399999 meters
Centerline goodness : 0.999672 with order 1
Centerline is valid?  [True, True]
Translation: X:151.43, Y:-4.16, Z:29.05
[[ 9.81246130e-01 -2.96881750e-02 -1.90459039e-01  1.51429277e+02]
 [ 3.16285669e-02  9.99474077e-01  7.15559384e-03 -4.15915719e+00]
 [ 1.90146436e-01 -1.30453452e-02  9.81669064e-01  2.90505028e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.364860624 meters
Centerline goodness : 0.999763 with order 1
Centerline is valid?  [True, True]
Translation: X:151.49, Y:-4.17, Z:29.06
[[ 9.81255463e-01 -2.93765283e-02 -1.90459275e-01  1.51486192e+02]
 [ 3.13099141e-02  9.99484155e-01  7.14929549e-03 -4.16531471e+00]
 [ 1.90151006e-01 -1.29785488e-02  9.81669064e-01  2.90644300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.424860624 meters
Centerline goodness : 0.999556 with order 1
Centerline is valid?  [True, True]
Translation: X:151.54, Y:-4.17, Z:29.08
[[ 9.81383623e-01 -2.47145763e-02 -1.90460954e-01  1.51544247e+02]
 [ 2.65526430e-02  9.99622172e-01  7.10429369e-03 -4.17114012e+00]
 [ 1.90213413e-01 -1.20292792e-02  9.81669065e-01  2.90805498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.484860624 meters
Centerline goodness : 0.999733 with order 1
Centerline is valid?  [True, True]
Translation: X:151.60, Y:-4.18, Z:29.09
[[ 9.81385999e-01 -2.46177299e-02 -1.90461251e-01  1.51603336e+02]
 [ 2.64524569e-02  9.99624884e-01  7.09632794e-03 -4.17608887e+00]
 [ 1.90215110e-01 -1.20024049e-02  9.81669065e-01  2.90902745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.54486062399997 meters
Centerline goodness : 0.999619 with order 1
Centerline is valid?  [True, True]
Translation: X:151.66, Y:-4.18, Z:29.10
[[ 9.81338257e-01 -2.64523869e-02 -1.90461275e-01  1.51662431e+02]
 [ 2.83210818e-02  9.99573693e-01  7.09567286e-03 -4.18419500e+00]
 [ 1.90192383e-01 -1.23573246e-02  9.81669065e-01  2.90963484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.60486062399997 meters
Centerline goodness : 0.999680 with order 1
Centerline is valid?  [True, True]
Translation: X:151.72, Y:-4.19, Z:29.10
[[ 9.81285295e-01 -2.83483809e-02 -1.90461383e-01  1.51720867e+02]
 [ 3.02517450e-02  9.99517146e-01  7.09277495e-03 -4.19338761e+00]
 [ 1.90168349e-01 -1.27218250e-02  9.81669065e-01  2.91043897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.66486062399997 meters
Centerline goodness : 0.999623 with order 1
Centerline is valid?  [True, True]
Translation: X:151.78, Y:-4.20, Z:29.12
[[ 9.81234254e-01 -3.00610694e-02 -1.90461732e-01  1.51777051e+02]
 [ 3.19944407e-02  9.99462946e-01  7.08339720e-03 -4.19736599e+00]
 [ 1.90146509e-01 -1.30441886e-02  9.81669065e-01  2.91168169e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.72486062399997 meters
Centerline goodness : 0.999623 with order 1
Centerline is valid?  [True, True]
Translation: X:151.83, Y:-4.20, Z:29.13
[[ 9.81252396e-01 -2.94511112e-02 -1.90463557e-01  1.51834585e+02]
 [ 3.13636014e-02  9.99483290e-01  7.03397320e-03 -4.20098978e+00]
 [ 1.90157985e-01 -1.28757262e-02  9.81669067e-01  2.91280006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.78486062399998 meters
Centerline goodness : 0.999710 with order 1
Centerline is valid?  [True, True]
Translation: X:151.89, Y:-4.20, Z:29.14
[[ 9.81280217e-01 -2.85060902e-02 -1.90464006e-01  1.51892368e+02]
 [ 3.03986688e-02  9.99513189e-01  7.02179502e-03 -4.20442076e+00]
 [ 1.90171123e-01 -1.26802008e-02  9.81669067e-01  2.91393808e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.84486062399998 meters
Centerline goodness : 0.999506 with order 1
Centerline is valid?  [True, True]
Translation: X:151.95, Y:-4.20, Z:29.15
[[ 9.81433452e-01 -2.26102642e-02 -1.90465629e-01  1.51950627e+02]
 [ 2.43847047e-02  9.99678299e-01  6.97750237e-03 -4.20412986e+00]
 [ 1.90246593e-01 -1.14924023e-02  9.81669068e-01  2.91541044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.90486062399998 meters
Centerline goodness : 0.999272 with order 1
Centerline is valid?  [True, True]
Translation: X:152.01, Y:-4.21, Z:29.17
[[ 9.81501156e-01 -1.94500635e-02 -1.90465680e-01  1.52008993e+02]
 [ 2.11654784e-02  9.99751647e-01  6.97610441e-03 -4.20562996e+00]
 [ 1.90282692e-01 -1.08783518e-02  9.81669068e-01  2.91656484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 153.96486062399998 meters
Centerline goodness : 0.999535 with order 1
Centerline is valid?  [True, True]
Translation: X:152.07, Y:-4.21, Z:29.17
[[ 9.81547204e-01 -1.69654112e-02 -1.90465907e-01  1.52068682e+02]
 [ 1.86334213e-02  9.99802088e-01  6.96990345e-03 -4.20910773e+00]
 [ 1.90309965e-01 -1.03903207e-02  9.81669068e-01  2.91732053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.02486062399998 meters
Centerline goodness : 0.999477 with order 1
Centerline is valid?  [True, True]
Translation: X:152.13, Y:-4.21, Z:29.18
[[ 9.81571453e-01 -1.54976694e-02 -1.90466022e-01  1.52126349e+02]
 [ 1.71377728e-02  9.99828866e-01  6.96676151e-03 -4.21025094e+00]
 [ 1.90325458e-01 -1.01025376e-02  9.81669068e-01  2.91835938e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.084860624 meters
Centerline goodness : 0.999529 with order 1
Centerline is valid?  [True, True]
Translation: X:152.18, Y:-4.21, Z:29.20
[[ 9.81384773e-01 -2.46279832e-02 -1.90466242e-01  1.52183970e+02]
 [ 2.64366918e-02  9.99626255e-01  6.96075111e-03 -4.20544469e+00]
 [ 1.90223627e-01 -1.18664725e-02  9.81669068e-01  2.92008558e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.144860624 meters
Centerline goodness : 0.999476 with order 1
Centerline is valid?  [True, True]
Translation: X:152.24, Y:-4.21, Z:29.21
[[ 9.81590297e-01 -1.42510257e-02 -1.90466261e-01  1.52243329e+02]
 [ 1.58666755e-02  9.99849891e-01  6.96022589e-03 -4.21077331e+00]
 [ 1.90338480e-01 -9.85415656e-03  9.81669068e-01  2.92106289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.204860624 meters
Centerline goodness : 0.999357 with order 1
Centerline is valid?  [True, True]
Translation: X:152.30, Y:-4.21, Z:29.22
[[ 9.81617507e-01 -1.22325425e-02 -1.90466363e-01  1.52301011e+02]
 [ 1.38101019e-02  9.99880430e-01  6.95743816e-03 -4.20996944e+00]
 [ 1.90358482e-01 -9.45990298e-03  9.81669068e-01  2.92204302e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.26486062399997 meters
Centerline goodness : 0.999238 with order 1
Centerline is valid?  [True, True]
Translation: X:152.36, Y:-4.21, Z:29.23
[[ 9.81642693e-01 -9.97919776e-03 -1.90467949e-01  1.52358721e+02]
 [ 1.15063746e-02  9.99909898e-01  6.91376153e-03 -4.20853012e+00]
 [ 1.90381793e-01 -8.97843906e-03  9.81669069e-01  2.92308121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.32486062399997 meters
Centerline goodness : 0.999201 with order 1
Centerline is valid?  [True, True]
Translation: X:152.42, Y:-4.20, Z:29.24
[[ 9.81689239e-01 -2.84549258e-03 -1.90468216e-01  1.52417158e+02]
 [ 4.23845685e-03  9.99967168e-01  6.90639282e-03 -4.20496127e+00]
 [ 1.90442310e-01 -7.58722283e-03  9.81669069e-01  2.92426997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.38486062399997 meters
Centerline goodness : 0.999195 with order 1
Centerline is valid?  [True, True]
Translation: X:152.48, Y:-4.20, Z:29.26
[[ 9.81686058e-01  3.77802743e-03 -1.90468395e-01  1.52475770e+02]
 [-2.50937697e-03  9.99973036e-01  6.90143461e-03 -4.20407036e+00]
 [ 1.90489333e-01 -6.29708514e-03  9.81669069e-01  2.92554628e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.44486062399997 meters
Centerline goodness : 0.999217 with order 1
Centerline is valid?  [True, True]
Translation: X:152.53, Y:-4.20, Z:29.27
[[ 9.81622347e-01  1.18034815e-02 -1.90468488e-01  1.52534960e+02]
 [-1.06848692e-02  9.99919116e-01  6.89888577e-03 -4.20268766e+00]
 [ 1.90534513e-01 -4.73696956e-03  9.81669069e-01  2.92678259e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.50486062399997 meters
Centerline goodness : 0.999061 with order 1
Centerline is valid?  [True, True]
Translation: X:152.59, Y:-4.20, Z:29.28
[[ 9.81543430e-01  1.71525771e-02 -1.90468593e-01  1.52594563e+02]
 [-1.61342519e-02  9.99846054e-01  6.89597981e-03 -4.20385867e+00]
 [ 1.90557555e-01 -3.69563542e-03  9.81669069e-01  2.92768492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.56486062399998 meters
Centerline goodness : 0.999151 with order 1
Centerline is valid?  [True, True]
Translation: X:152.65, Y:-4.21, Z:29.29
[[ 9.81502099e-01  1.93724813e-02 -1.90468728e-01  1.52652203e+02]
 [-1.83962794e-02  9.99807018e-01  6.89223820e-03 -4.20603796e+00]
 [ 1.90565491e-01 -3.26083031e-03  9.81669069e-01  2.92861696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.62486062399998 meters
Centerline goodness : 0.998451 with order 1
Centerline is valid?  [True, True]
Translation: X:152.71, Y:-4.21, Z:29.30
[[ 9.81460222e-01  2.13761537e-02 -1.90470188e-01  1.52710222e+02]
 [-2.04451946e-02  9.99767497e-01  6.85166784e-03 -4.20947479e+00]
 [ 1.90572365e-01 -2.83043938e-03  9.81669070e-01  2.92959247e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.68486062399998 meters
Centerline goodness : 0.997971 with order 1
Centerline is valid?  [True, True]
Translation: X:152.77, Y:-4.21, Z:29.31
[[ 9.81461358e-01  2.13108133e-02 -1.90471655e-01  1.52768786e+02]
 [-2.03865965e-02  9.99768974e-01  6.81063675e-03 -4.21258241e+00]
 [ 1.90572792e-01 -2.80130801e-03  9.81669070e-01  2.93083725e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.74486062399998 meters
Centerline goodness : 0.997455 with order 1
Centerline is valid?  [True, True]
Translation: X:152.83, Y:-4.22, Z:29.32
[[ 9.81497683e-01  1.95643788e-02 -1.90471868e-01  1.52826059e+02]
 [-1.86087419e-02  9.99803686e-01  6.80468488e-03 -4.21711272e+00]
 [ 1.90567605e-01 -3.13434062e-03  9.81669070e-01  2.93200968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.80486062399999 meters
Centerline goodness : 0.997154 with order 1
Centerline is valid?  [True, True]
Translation: X:152.88, Y:-4.22, Z:29.33
[[ 9.81580563e-01  1.48292082e-02 -1.90472291e-01  1.52883448e+02]
 [-1.37875703e-02  9.99881873e-01  6.79282768e-03 -4.22024948e+00]
 [ 1.90550523e-01 -4.04155752e-03  9.81669070e-01  2.93313695e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.864860624 meters
Centerline goodness : 0.997035 with order 1
Centerline is valid?  [True, True]
Translation: X:152.94, Y:-4.22, Z:29.34
[[ 9.81629324e-01  1.11182665e-02 -1.90473764e-01  1.52941272e+02]
 [-1.00155075e-02  9.99927052e-01  6.75126857e-03 -4.22315068e+00]
 [ 1.90534932e-01 -4.71955178e-03  9.81669071e-01  2.93429795e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.924860624 meters
Centerline goodness : 0.996485 with order 1
Centerline is valid?  [True, True]
Translation: X:153.00, Y:-4.22, Z:29.35
[[ 9.81689661e-01  2.23194373e-03 -1.90474219e-01  1.53000715e+02]
 [-9.66087481e-04  9.99976830e-01  6.73841284e-03 -4.22442207e+00]
 [ 1.90484845e-01 -6.43101546e-03  9.81669071e-01  2.93503879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 154.984860624 meters
Centerline goodness : 0.996341 with order 1
Centerline is valid?  [True, True]
Translation: X:153.06, Y:-4.23, Z:29.36
[[ 9.81683065e-01 -4.23035966e-03 -1.90474315e-01  1.53059312e+02]
 [ 5.61604153e-03  9.99961545e-01  6.73568966e-03 -4.22569362e+00]
 [ 1.90438496e-01 -7.68202413e-03  9.81669071e-01  2.93624670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.04486062399997 meters
Centerline goodness : 0.996696 with order 1
Centerline is valid?  [True, True]
Translation: X:153.12, Y:-4.23, Z:29.37
[[ 9.81582734e-01 -1.46579290e-02 -1.90474360e-01  1.53118160e+02]
 [ 1.62374485e-02  9.99845484e-01  6.73442324e-03 -4.22804767e+00]
 [ 1.90346216e-01 -9.70321119e-03  9.81669071e-01  2.93713630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.10486062399997 meters
Centerline goodness : 0.997220 with order 1
Centerline is valid?  [True, True]
Translation: X:153.18, Y:-4.23, Z:29.38
[[ 9.81429609e-01 -2.27030242e-02 -1.90474394e-01  1.53176503e+02]
 [ 2.44319960e-02  9.99678817e-01  6.73346072e-03 -4.22976785e+00]
 [ 1.90260347e-01 -1.12620873e-02  9.81669071e-01  2.93804622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.16486062399997 meters
Centerline goodness : 0.997480 with order 1
Centerline is valid?  [True, True]
Translation: X:153.24, Y:-4.23, Z:29.39
[[ 9.81178402e-01 -3.17558417e-02 -1.90474434e-01  1.53235826e+02]
 [ 3.36528719e-02  9.99410906e-01  6.73232894e-03 -4.22963605e+00]
 [ 1.90148436e-01 -1.30156275e-02  9.81669071e-01  2.93910876e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.22486062399997 meters
Centerline goodness : 0.997865 with order 1
Centerline is valid?  [True, True]
Translation: X:153.29, Y:-4.23, Z:29.41
[[ 9.80863398e-01 -4.03297041e-02 -1.90474430e-01  1.53294202e+02]
 [ 4.23860250e-02  9.99078625e-01  6.73242718e-03 -4.22830280e+00]
 [ 1.90027415e-01 -1.46770454e-02  9.81669071e-01  2.94052240e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.28486062399998 meters
Centerline goodness : 0.998077 with order 1
Centerline is valid?  [True, True]
Translation: X:153.35, Y:-4.23, Z:29.42
[[ 9.80666016e-01 -4.48736346e-02 -1.90474468e-01  1.53352533e+02]
 [ 4.70141198e-02  9.98871544e-01  6.73136351e-03 -4.22889752e+00]
 [ 1.89957465e-01 -1.55562089e-02  9.81669071e-01  2.94181762e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.34486062399998 meters
Centerline goodness : 0.998830 with order 1
Centerline is valid?  [True, True]
Translation: X:153.41, Y:-4.23, Z:29.43
[[ 9.80376803e-01 -5.08012242e-02 -1.90474565e-01  1.53411812e+02]
 [ 5.30511975e-02  9.98569124e-01  6.72861172e-03 -4.23000724e+00]
 [ 1.89860198e-01 -1.67014786e-02  9.81669071e-01  2.94311865e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.40486062399998 meters
Centerline goodness : 0.998917 with order 1
Centerline is valid?  [True, True]
Translation: X:153.47, Y:-4.23, Z:29.44
[[ 9.80288594e-01 -5.24758681e-02 -1.90474554e-01  1.53470887e+02]
 [ 5.47569754e-02  9.98477038e-01  6.72892521e-03 -4.23150531e+00]
 [ 1.89831362e-01 -1.70260991e-02  9.81669071e-01  2.94432082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.46486062399998 meters
Centerline goodness : 0.999396 with order 1
Centerline is valid?  [True, True]
Translation: X:153.53, Y:-4.23, Z:29.46
[[ 9.80397049e-01 -5.04086326e-02 -1.90474659e-01  1.53529260e+02]
 [ 5.26508057e-02  9.98590334e-01  6.72594093e-03 -4.23098349e+00]
 [ 1.89867108e-01 -1.66227369e-02  9.81669071e-01  2.94572572e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.52486062399998 meters
Centerline goodness : 0.999547 with order 1
Centerline is valid?  [True, True]
Translation: X:153.59, Y:-4.23, Z:29.47
[[ 9.80504253e-01 -4.82780778e-02 -1.90474766e-01  1.53587825e+02]
 [ 5.04801265e-02  9.98702438e-01  6.72291018e-03 -4.23256667e+00]
 [ 1.89903044e-01 -1.62070323e-02  9.81669071e-01  2.94680803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.584860624 meters
Centerline goodness : 0.999607 with order 1
Centerline is valid?  [True, True]
Translation: X:153.65, Y:-4.23, Z:29.48
[[ 9.80635905e-01 -4.55251288e-02 -1.90474894e-01  1.53646156e+02]
 [ 4.76753809e-02  9.98840282e-01  6.71929880e-03 -4.23435452e+00]
 [ 1.89948100e-01 -1.56701488e-02  9.81669071e-01  2.94776787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.644860624 meters
Centerline goodness : 0.999394 with order 1
Centerline is valid?  [True, True]
Translation: X:153.70, Y:-4.24, Z:29.49
[[ 9.80673093e-01 -4.47160045e-02 -1.90475101e-01  1.53704442e+02]
 [ 4.68501031e-02  9.98879371e-01  6.71342937e-03 -4.23578983e+00]
 [ 1.89961451e-01 -1.55074577e-02  9.81669071e-01  2.94917948e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.704860624 meters
Centerline goodness : 0.999516 with order 1
Centerline is valid?  [True, True]
Translation: X:153.76, Y:-4.24, Z:29.51
[[ 9.80650399e-01 -4.52105248e-02 -1.90475205e-01  1.53761074e+02]
 [ 4.73532314e-02  9.98855666e-01  6.71046102e-03 -4.23870694e+00]
 [ 1.89953855e-01 -1.56002327e-02  9.81669071e-01  2.95072004e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.76486062399997 meters
Centerline goodness : 0.999820 with order 1
Centerline is valid?  [True, True]
Translation: X:153.82, Y:-4.24, Z:29.52
[[ 9.80677083e-01 -4.46212435e-02 -1.90476778e-01  1.53817126e+02]
 [ 4.67443373e-02  9.98884647e-01  6.66551237e-03 -4.24264688e+00]
 [ 1.89966906e-01 -1.54404260e-02  9.81669072e-01  2.95193044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.82486062399997 meters
Centerline goodness : 0.999640 with order 1
Centerline is valid?  [True, True]
Translation: X:153.87, Y:-4.25, Z:29.53
[[ 9.80685111e-01 -4.44420903e-02 -1.90477329e-01  1.53874678e+02]
 [ 4.65588154e-02  9.98893417e-01  6.64974518e-03 -4.24626139e+00]
 [ 1.89971021e-01 -1.53897049e-02  9.81669073e-01  2.95310523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.88486062399997 meters
Centerline goodness : 0.999670 with order 1
Centerline is valid?  [True, True]
Translation: X:153.93, Y:-4.25, Z:29.54
[[ 9.80724364e-01 -4.35606580e-02 -1.90478847e-01  1.53932450e+02]
 [ 4.56525721e-02  9.98935535e-01  6.60598557e-03 -4.25026375e+00]
 [ 1.89988328e-01 -1.51745003e-02  9.81669074e-01  2.95420816e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 155.94486062399997 meters
Centerline goodness : 0.999613 with order 1
Centerline is valid?  [True, True]
Translation: X:153.99, Y:-4.26, Z:29.55
[[ 9.80780548e-01 -4.22748152e-02 -1.90479281e-01  1.53990516e+02]
 [ 4.43404287e-02  9.98994721e-01  6.59343490e-03 -4.25575495e+00]
 [ 1.90009060e-01 -1.49126457e-02  9.81669074e-01  2.95536718e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.00486062399997 meters
Centerline goodness : 0.999467 with order 1
Centerline is valid?  [True, True]
Translation: X:154.05, Y:-4.26, Z:29.56
[[ 9.80737989e-01 -4.32475522e-02 -1.90480043e-01  1.54048641e+02]
 [ 4.53269664e-02  9.98950591e-01  6.57134485e-03 -4.26150543e+00]
 [ 1.89995957e-01 -1.50786501e-02  9.81669074e-01  2.95641861e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.06486062399998 meters
Centerline goodness : 0.999587 with order 1
Centerline is valid?  [True, True]
Translation: X:154.11, Y:-4.27, Z:29.58
[[ 9.80731843e-01 -4.33805279e-02 -1.90481448e-01  1.54106008e+02]
 [ 4.54545032e-02  9.98945065e-01  6.53037033e-03 -4.26608331e+00]
 [ 1.89997212e-01 -1.50627817e-02  9.81669075e-01  2.95762418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.12486062399998 meters
Centerline goodness : 0.999559 with order 1
Centerline is valid?  [True, True]
Translation: X:154.17, Y:-4.27, Z:29.59
[[ 9.80832771e-01 -4.10282572e-02 -1.90482960e-01  1.54165237e+02]
 [ 4.30499710e-02  9.99051867e-01  6.48596300e-03 -4.27201232e+00]
 [ 1.90036249e-01 -1.45619310e-02  9.81669076e-01  2.95890394e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.18486062399998 meters
Centerline goodness : 0.999501 with order 1
Centerline is valid?  [True, True]
Translation: X:154.22, Y:-4.28, Z:29.60
[[ 9.80931731e-01 -3.85897385e-02 -1.90482995e-01  1.54223673e+02]
 [ 4.05659579e-02  9.99155818e-01  6.48495452e-03 -4.27551861e+00]
 [ 1.90071940e-01 -1.40884228e-02  9.81669076e-01  2.96013303e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.24486062399998 meters
Centerline goodness : 0.999502 with order 1
Centerline is valid?  [True, True]
Translation: X:154.28, Y:-4.28, Z:29.61
[[ 9.81046260e-01 -3.55581390e-02 -1.90483212e-01  1.54282578e+02]
 [ 3.74767951e-02  9.99276497e-01  6.47856081e-03 -4.27900816e+00]
 [ 1.90115032e-01 -1.34944682e-02  9.81669076e-01  2.96123627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.30486062399999 meters
Centerline goodness : 0.999531 with order 1
Centerline is valid?  [True, True]
Translation: X:154.34, Y:-4.28, Z:29.62
[[ 9.81202443e-01 -3.09500490e-02 -1.90483230e-01  1.54341134e+02]
 [ 3.27829621e-02  9.99441500e-01  6.47804607e-03 -4.28080789e+00]
 [ 1.90176349e-01 -1.26008791e-02  9.81669076e-01  2.96229819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.364860624 meters
Centerline goodness : 0.999382 with order 1
Centerline is valid?  [True, True]
Translation: X:154.40, Y:-4.28, Z:29.63
[[ 9.81287970e-01 -2.81070897e-02 -1.90483362e-01  1.54399835e+02]
 [ 2.98863985e-02  9.99532335e-01  6.47415265e-03 -4.28173035e+00]
 [ 1.90212310e-01 -1.20458698e-02  9.81669076e-01  2.96344848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.424860624 meters
Centerline goodness : 0.999441 with order 1
Centerline is valid?  [True, True]
Translation: X:154.46, Y:-4.28, Z:29.65
[[ 9.81357491e-01 -2.55640976e-02 -1.90483467e-01  1.54459079e+02]
 [ 2.72955237e-02  9.99606462e-01  6.47105784e-03 -4.28238881e+00]
 [ 1.90243078e-01 -1.15497671e-02  9.81669076e-01  2.96452402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.484860624 meters
Centerline goodness : 0.999380 with order 1
Centerline is valid?  [True, True]
Translation: X:154.52, Y:-4.28, Z:29.66
[[ 9.81441571e-01 -2.21009283e-02 -1.90483574e-01  1.54518234e+02]
 [ 2.37673407e-02  9.99696594e-01  6.46792486e-03 -4.28179392e+00]
 [ 1.90282833e-01 -1.08751783e-02  9.81669076e-01  2.96559102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.54486062399997 meters
Centerline goodness : 0.999556 with order 1
Centerline is valid?  [True, True]
Translation: X:154.58, Y:-4.28, Z:29.67
[[ 9.81467913e-01 -2.08974458e-02 -1.90483680e-01  1.54576126e+02]
 [ 2.25408668e-02  9.99725020e-01  6.46479544e-03 -4.28074407e+00]
 [ 1.90296203e-01 -1.06386565e-02  9.81669076e-01  2.96677271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.60486062399997 meters
Centerline goodness : 0.999259 with order 1
Centerline is valid?  [True, True]
Translation: X:154.63, Y:-4.28, Z:29.68
[[ 9.81483406e-01 -2.01546897e-02 -1.90483890e-01  1.54633274e+02]
 [ 2.17830967e-02  9.99741858e-01  6.45860898e-03 -4.28126488e+00]
 [ 1.90304546e-01 -1.04883465e-02  9.81669076e-01  2.96795063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.66486062399997 meters
Centerline goodness : 0.999404 with order 1
Centerline is valid?  [True, True]
Translation: X:154.69, Y:-4.28, Z:29.69
[[ 9.81556542e-01 -1.61999077e-02 -1.90484428e-01  1.54690841e+02]
 [ 1.77516538e-02  9.99821669e-01  6.44269532e-03 -4.27963913e+00]
 [ 1.90346088e-01 -9.70528335e-03  9.81669076e-01  2.96902901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.72486062399997 meters
Centerline goodness : 0.999344 with order 1
Centerline is valid?  [True, True]
Translation: X:154.75, Y:-4.28, Z:29.70
[[ 9.81600252e-01 -1.32862020e-02 -1.90484705e-01  1.54749468e+02]
 [ 1.47821351e-02  9.99870034e-01  6.43449189e-03 -4.27965842e+00]
 [ 1.90374459e-01 -9.13186949e-03  9.81669076e-01  2.97012438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.78486062399998 meters
Centerline goodness : 0.999311 with order 1
Centerline is valid?  [True, True]
Translation: X:154.81, Y:-4.28, Z:29.71
[[ 9.81638652e-01 -1.00525280e-02 -1.90484916e-01  1.54807226e+02]
 [ 1.14870566e-02  9.99913359e-01  6.42823456e-03 -4.27839149e+00]
 [ 1.90403792e-01 -8.49831452e-03  9.81669076e-01  2.97121469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.84486062399998 meters
Centerline goodness : 0.999192 with order 1
Centerline is valid?  [True, True]
Translation: X:154.87, Y:-4.28, Z:29.72
[[ 9.81648477e-01 -9.01089183e-03 -1.90486407e-01  1.54866215e+02]
 [ 1.04174145e-02  9.99925360e-01  6.38376169e-03 -4.27982947e+00]
 [ 1.90414665e-01 -8.25098580e-03  9.81669077e-01  2.97247608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.90486062399998 meters
Centerline goodness : 0.999133 with order 1
Centerline is valid?  [True, True]
Translation: X:154.92, Y:-4.28, Z:29.74
[[ 9.81645115e-01 -9.36866919e-03 -1.90486474e-01  1.54922867e+02]
 [ 1.07814660e-02  9.99921513e-01  6.38176308e-03 -4.28056246e+00]
 [ 1.90411734e-01 -8.31834999e-03  9.81669077e-01  2.97368987e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 156.96486062399998 meters
Centerline goodness : 0.999342 with order 1
Centerline is valid?  [True, True]
Translation: X:154.98, Y:-4.28, Z:29.75
[[ 9.81650286e-01 -8.79864016e-03 -1.90487006e-01  1.54980292e+02]
 [ 1.01977403e-02  9.99927738e-01  6.36584305e-03 -4.28270673e+00]
 [ 1.90417230e-01 -8.19156867e-03  9.81669077e-01  2.97468111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.02486062399998 meters
Centerline goodness : 0.999223 with order 1
Centerline is valid?  [True, True]
Translation: X:155.04, Y:-4.28, Z:29.76
[[ 9.81650864e-01 -8.70236630e-03 -1.90488452e-01  1.55039561e+02]
 [ 1.00912339e-02  9.99929095e-01  6.32226877e-03 -4.28492980e+00]
 [ 1.90419927e-01 -8.12852412e-03  9.81669078e-01  2.97566658e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.084860624 meters
Centerline goodness : 0.999252 with order 1
Centerline is valid?  [True, True]
Translation: X:155.10, Y:-4.29, Z:29.77
[[ 9.81668498e-01 -6.40860082e-03 -1.90488555e-01  1.55097578e+02]
 [ 7.75415361e-03  9.99949969e-01  6.31916253e-03 -4.28557326e+00]
 [ 1.90438528e-01 -7.68040030e-03  9.81669078e-01  2.97686492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.144860624 meters
Centerline goodness : 0.999220 with order 1
Centerline is valid?  [True, True]
Translation: X:155.16, Y:-4.29, Z:29.78
[[ 9.81681131e-01 -4.00147678e-03 -1.90489226e-01  1.55155554e+02]
 [ 5.29826918e-03  9.99966126e-01  6.29888454e-03 -4.28635936e+00]
 [ 1.90457568e-01 -7.19275930e-03  9.81669078e-01  2.97803636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.204860624 meters
Centerline goodness : 0.998884 with order 1
Centerline is valid?  [True, True]
Translation: X:155.21, Y:-4.29, Z:29.79
[[ 9.81688648e-01 -9.87887373e-04 -1.90489953e-01  1.55213606e+02]
 [ 2.22426381e-03  9.99977827e-01  6.27680906e-03 -4.28649264e+00]
 [ 1.90479529e-01 -6.58557211e-03  9.81669078e-01  2.97901062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.26486062399997 meters
Centerline goodness : 0.998913 with order 1
Centerline is valid?  [True, True]
Translation: X:155.27, Y:-4.29, Z:29.80
[[ 9.81688438e-01 -9.24835999e-04 -1.90491353e-01  1.55272857e+02]
 [ 2.15174809e-03  9.99978253e-01  6.23403800e-03 -4.28800162e+00]
 [ 1.90481445e-01 -6.52977243e-03  9.81669079e-01  2.98010856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.32486062399997 meters
Centerline goodness : 0.998914 with order 1
Centerline is valid?  [True, True]
Translation: X:155.33, Y:-4.29, Z:29.81
[[ 9.81688834e-01 -2.01905585e-04 -1.90491452e-01  1.55331814e+02]
 [ 1.41476353e-03  9.99979586e-01  6.23102028e-03 -4.29056951e+00]
 [ 1.90486305e-01 -6.38642339e-03  9.81669079e-01  2.98105646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.38486062399997 meters
Centerline goodness : 0.998431 with order 1
Centerline is valid?  [True, True]
Translation: X:155.39, Y:-4.29, Z:29.82
[[ 9.81688466e-01 -8.30092577e-04 -1.90491647e-01  1.55388995e+02]
 [ 2.05349924e-03  9.99978516e-01  6.22505917e-03 -4.29323770e+00]
 [ 1.90482387e-01 -6.50224323e-03  9.81669079e-01  2.98202172e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.44486062399997 meters
Centerline goodness : 0.998014 with order 1
Centerline is valid?  [True, True]
Translation: X:155.45, Y:-4.30, Z:29.83
[[ 9.81684924e-01 -2.65378542e-03 -1.90493223e-01  1.55447697e+02]
 [ 3.90174826e-03  9.99973314e-01  6.17645514e-03 -4.29622015e+00]
 [ 1.90471748e-01 -6.80658949e-03  9.81669080e-01  2.98292204e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.50486062399997 meters
Centerline goodness : 0.997171 with order 1
Centerline is valid?  [True, True]
Translation: X:155.50, Y:-4.30, Z:29.84
[[ 9.81682351e-01 -3.47297044e-03 -1.90493310e-01  1.55504627e+02]
 [ 4.73567523e-03  9.99969728e-01  6.17377839e-03 -4.29841480e+00]
 [ 1.90466102e-01 -6.96280373e-03  9.81669080e-01  2.98429111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.56486062399998 meters
Centerline goodness : 0.996550 with order 1
Centerline is valid?  [True, True]
Translation: X:155.56, Y:-4.30, Z:29.86
[[ 9.81672223e-01 -5.63875575e-03 -1.90493702e-01  1.55563096e+02]
 [ 6.93945445e-03  9.99956938e-01  6.16165644e-03 -4.30019110e+00]
 [ 1.90450755e-01 -7.37064935e-03  9.81669081e-01  2.98550670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.62486062399998 meters
Centerline goodness : 0.994440 with order 1
Centerline is valid?  [True, True]
Translation: X:155.62, Y:-4.30, Z:29.87
[[ 9.81477364e-01 -2.03542950e-02 -1.90493797e-01  1.55621905e+02]
 [ 2.19283801e-02  9.99740575e-01  6.15869988e-03 -4.29955596e+00]
 [ 1.90319022e-01 -1.02218449e-02  9.81669081e-01  2.98650973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.68486062399998 meters
Centerline goodness : 0.995540 with order 1
Centerline is valid?  [True, True]
Translation: X:155.68, Y:-4.31, Z:29.88
[[ 9.81533965e-01 -1.74118983e-02 -1.90493834e-01  1.55679883e+02]
 [ 1.89310035e-02  9.99801831e-01  6.15754928e-03 -4.30600964e+00]
 [ 1.90348870e-01 -9.65008321e-03  9.81669081e-01  2.98756212e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.74486062399998 meters
Centerline goodness : 0.995910 with order 1
Centerline is valid?  [True, True]
Translation: X:155.74, Y:-4.31, Z:29.88
[[ 9.81325637e-01 -2.66764044e-02 -1.90495048e-01  1.55739793e+02]
 [ 2.83605754e-02  9.99579025e-01  6.11976744e-03 -4.30865248e+00]
 [ 1.90251601e-01 -1.14080339e-02  9.81669081e-01  2.98846159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.80486062399999 meters
Centerline goodness : 0.995755 with order 1
Centerline is valid?  [True, True]
Translation: X:155.80, Y:-4.31, Z:29.89
[[ 9.81050804e-01 -3.53685890e-02 -1.90495100e-01  1.55798125e+02]
 [ 3.72140855e-02  9.99288587e-01  6.11816874e-03 -4.30935655e+00]
 [ 1.90143188e-01 -1.30913353e-02  9.81669081e-01  2.98946995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.864860624 meters
Centerline goodness : 0.995368 with order 1
Centerline is valid?  [True, True]
Translation: X:155.86, Y:-4.31, Z:29.91
[[ 9.80884612e-01 -3.97109156e-02 -1.90495199e-01  1.55857581e+02]
 [ 4.16365239e-02  9.99114111e-01  6.11505946e-03 -4.31002427e+00]
 [ 1.90083607e-01 -1.39297256e-02  9.81669081e-01  2.99060946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.924860624 meters
Centerline goodness : 0.995515 with order 1
Centerline is valid?  [True, True]
Translation: X:155.92, Y:-4.31, Z:29.92
[[ 9.80609717e-01 -4.60016595e-02 -1.90495225e-01  1.55916899e+02]
 [ 4.80440018e-02  9.98826506e-01  6.11426417e-03 -4.31056184e+00]
 [ 1.89990414e-01 -1.51478598e-02  9.81669081e-01  2.99181153e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 157.984860624 meters
Centerline goodness : 0.995558 with order 1
Centerline is valid?  [True, True]
Translation: X:155.98, Y:-4.31, Z:29.93
[[ 9.80535024e-01 -4.75669013e-02 -1.90495294e-01  1.55975814e+02]
 [ 4.96379061e-02  9.98748577e-01  6.11212227e-03 -4.31055915e+00]
 [ 1.89966169e-01 -1.54489375e-02  9.81669081e-01  2.99288271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.04486062399997 meters
Centerline goodness : 0.995604 with order 1
Centerline is valid?  [True, True]
Translation: X:156.03, Y:-4.31, Z:29.94
[[ 9.80488078e-01 -4.85247052e-02 -1.90495362e-01  1.56034273e+02]
 [ 5.06130915e-02  9.98699646e-01  6.11000103e-03 -4.30876866e+00]
 [ 1.89951164e-01 -1.56323423e-02  9.81669081e-01  2.99412124e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.10486062399997 meters
Centerline goodness : 0.996090 with order 1
Centerline is valid?  [True, True]
Translation: X:156.09, Y:-4.31, Z:29.95
[[ 9.80386581e-01 -5.05331070e-02 -1.90495556e-01  1.56092142e+02]
 [ 5.26576272e-02  9.98593970e-01  6.10394914e-03 -4.30536962e+00]
 [ 1.89919262e-01 -1.60152738e-02  9.81669081e-01  2.99530730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.16486062399997 meters
Centerline goodness : 0.996549 with order 1
Centerline is valid?  [True, True]
Translation: X:156.15, Y:-4.30, Z:29.96
[[ 9.80300694e-01 -5.21678484e-02 -1.90496888e-01  1.56148464e+02]
 [ 5.43146522e-02  9.98505468e-01  6.06209042e-03 -4.30483250e+00]
 [ 1.89895938e-01 -1.62894437e-02  9.81669082e-01  2.99631747e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.22486062399997 meters
Centerline goodness : 0.997546 with order 1
Centerline is valid?  [True, True]
Translation: X:156.21, Y:-4.31, Z:29.98
[[ 9.80254161e-01 -5.30330180e-02 -1.90497451e-01  1.56207101e+02]
 [ 5.51924633e-02  9.98457439e-01  6.04433540e-03 -4.30643056e+00]
 [ 1.89883048e-01 -1.64390085e-02  9.81669082e-01  2.99787015e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.28486062399998 meters
Centerline goodness : 0.998182 with order 1
Centerline is valid?  [True, True]
Translation: X:156.27, Y:-4.31, Z:29.99
[[ 9.80237869e-01 -5.33333061e-02 -1.90497451e-01  1.56266600e+02]
 [ 5.54983278e-02  9.98440485e-01  6.04433540e-03 -4.30839098e+00]
 [ 1.89878003e-01 -1.64971764e-02  9.81669082e-01  2.99907753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.34486062399998 meters
Centerline goodness : 0.998790 with order 1
Centerline is valid?  [True, True]
Translation: X:156.33, Y:-4.31, Z:30.00
[[ 9.80280817e-01 -5.25379858e-02 -1.90497451e-01  1.56326225e+02]
 [ 5.46882382e-02  9.98485184e-01  6.04433540e-03 -4.31108862e+00]
 [ 1.89891325e-01 -1.63431160e-02  9.81669082e-01  3.00046094e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.40486062399998 meters
Centerline goodness : 0.999426 with order 1
Centerline is valid?  [True, True]
Translation: X:156.38, Y:-4.31, Z:30.02
[[ 9.80254997e-01 -5.30179067e-02 -1.90497353e-01  1.56383987e+02]
 [ 5.51776688e-02  9.98458238e-01  6.04743255e-03 -4.31329859e+00]
 [ 1.89883029e-01 -1.64392258e-02  9.81669082e-01  3.00162003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.46486062399998 meters
Centerline goodness : 0.999246 with order 1
Centerline is valid?  [True, True]
Translation: X:156.44, Y:-4.32, Z:30.03
[[ 9.80310851e-01 -5.19750467e-02 -1.90497322e-01  1.56442238e+02]
 [ 5.41156322e-02  9.98516357e-01  6.04841668e-03 -4.31592948e+00]
 [ 1.89900325e-01 -1.62382115e-02  9.81669082e-01  3.00314289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.52486062399998 meters
Centerline goodness : 0.999455 with order 1
Centerline is valid?  [True, True]
Translation: X:156.50, Y:-4.32, Z:30.05
[[ 9.80803278e-01 -4.16617126e-02 -1.90497325e-01  1.56500580e+02]
 [ 4.36106811e-02  9.99030293e-01  6.04830558e-03 -4.31783335e+00]
 [ 1.90060616e-01 -1.42399161e-02  9.81669082e-01  3.00470745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.584860624 meters
Centerline goodness : 0.999788 with order 1
Centerline is valid?  [True, True]
Translation: X:156.56, Y:-4.32, Z:30.06
[[ 9.81078303e-01 -3.45850449e-02 -1.90497346e-01  1.56559691e+02]
 [ 3.64023427e-02  9.99318916e-01  6.04763769e-03 -4.32209334e+00]
 [ 1.90158444e-01 -1.28677558e-02  9.81669082e-01  3.00558723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.644860624 meters
Centerline goodness : 0.999970 with order 1
Centerline is valid?  [True, True]
Translation: X:156.62, Y:-4.33, Z:30.06
[[ 9.81289830e-01 -2.79467544e-02 -1.90497371e-01  1.56619206e+02]
 [ 2.96404550e-02  9.99542335e-01  6.04687071e-03 -4.32844135e+00]
 [ 1.90241196e-01 -1.15801615e-02  9.81669082e-01  3.00623666e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.704860624 meters
Centerline goodness : 0.999610 with order 1
Centerline is valid?  [True, True]
Translation: X:156.68, Y:-4.33, Z:30.07
[[ 9.81294357e-01 -2.77863763e-02 -1.90497512e-01  1.56676824e+02]
 [ 2.94762319e-02  9.99547218e-01  6.04241447e-03 -4.33153909e+00]
 [ 1.90243361e-01 -1.15445361e-02  9.81669082e-01  3.00749951e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.76486062399997 meters
Centerline goodness : 0.999670 with order 1
Centerline is valid?  [True, True]
Translation: X:156.74, Y:-4.34, Z:30.09
[[ 9.81259799e-01 -2.89728757e-02 -1.90498763e-01  1.56735434e+02]
 [ 3.06771268e-02  9.99511321e-01  6.00273750e-03 -4.33644158e+00]
 [ 1.90231753e-01 -1.17341997e-02  9.81669083e-01  3.00909551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.82486062399997 meters
Centerline goodness : 0.999881 with order 1
Centerline is valid?  [True, True]
Translation: X:156.79, Y:-4.34, Z:30.10
[[ 9.81197348e-01 -3.10159034e-02 -1.90498763e-01  1.56793013e+02]
 [ 3.27581525e-02  9.99445281e-01  6.00273750e-03 -4.34184193e+00]
 [ 1.90206909e-01 -1.21302576e-02  9.81669083e-01  3.01022534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.88486062399997 meters
Centerline goodness : 0.999733 with order 1
Centerline is valid?  [True, True]
Translation: X:156.85, Y:-4.35, Z:30.11
[[ 9.81137508e-01 -3.28532916e-02 -1.90498955e-01  1.56850280e+02]
 [ 3.46285256e-02  9.99382262e-01  5.99661262e-03 -4.34804507e+00]
 [ 1.90184268e-01 -1.24801995e-02  9.81669083e-01  3.01124636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 158.94486062399997 meters
Centerline goodness : 0.997404 with order 1
Centerline is valid?  [True, True]
Translation: X:156.91, Y:-4.34, Z:30.13
[[ 9.80241226e-01 -5.32644324e-02 -1.90499445e-01  1.56908240e+02]
 [ 5.54159605e-02  9.98445441e-01  5.98101196e-03 -4.34321714e+00]
 [ 1.89884727e-01 -1.64195442e-02  9.81669083e-01  3.01258825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.00486062399997 meters
Centerline goodness : 0.999735 with order 1
Centerline is valid?  [True, True]
Translation: X:156.97, Y:-4.35, Z:30.14
[[ 9.81018361e-01 -3.62345615e-02 -1.90499428e-01  1.56967168e+02]
 [ 3.80697529e-02  9.99257182e-01  5.98154412e-03 -4.35419768e+00]
 [ 1.90141183e-01 -1.31202708e-02  9.81669083e-01  3.01362110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.06486062399998 meters
Centerline goodness : 0.999676 with order 1
Centerline is valid?  [True, True]
Translation: X:157.03, Y:-4.36, Z:30.15
[[ 9.80963696e-01 -3.76854327e-02 -1.90499437e-01  1.57025305e+02]
 [ 3.95475419e-02  9.99199788e-01  5.98125895e-03 -4.35726414e+00]
 [ 1.90121591e-01 -1.34011824e-02  9.81669083e-01  3.01460397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.12486062399998 meters
Centerline goodness : 0.999588 with order 1
Centerline is valid?  [True, True]
Translation: X:157.08, Y:-4.36, Z:30.16
[[ 9.81003634e-01 -3.66241989e-02 -1.90500757e-01  1.57084585e+02]
 [ 3.84584028e-02  9.99242553e-01  5.93895219e-03 -4.36010824e+00]
 [ 1.90138953e-01 -1.31524885e-02  9.81669084e-01  3.01569441e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.18486062399998 meters
Centerline goodness : 0.999676 with order 1
Centerline is valid?  [True, True]
Translation: X:157.14, Y:-4.36, Z:30.17
[[ 9.81069287e-01 -3.48197297e-02 -1.90501027e-01  1.57143535e+02]
 [ 3.66187064e-02  9.99311714e-01  5.93027965e-03 -4.36165656e+00]
 [ 1.90163417e-01 -1.27939164e-02  9.81669084e-01  3.01691763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.24486062399998 meters
Centerline goodness : 0.999765 with order 1
Centerline is valid?  [True, True]
Translation: X:157.20, Y:-4.36, Z:30.18
[[ 9.81164953e-01 -3.20102784e-02 -1.90501121e-01  1.57201360e+02]
 [ 3.37564207e-02  9.99412513e-01  5.92723101e-03 -4.36227880e+00]
 [ 1.90199472e-01 -1.22462273e-02  9.81669084e-01  3.01809665e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.30486062399999 meters
Centerline goodness : 0.999705 with order 1
Centerline is valid?  [True, True]
Translation: X:157.26, Y:-4.36, Z:30.19
[[ 9.81236788e-01 -2.97188237e-02 -1.90502383e-01  1.57259019e+02]
 [ 3.14144507e-02  9.99489111e-01  5.88640398e-03 -4.36462522e+00]
 [ 1.90230120e-01 -1.17604838e-02  9.81669085e-01  3.01916348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.364860624 meters
Centerline goodness : 0.999647 with order 1
Centerline is valid?  [True, True]
Translation: X:157.32, Y:-4.37, Z:30.20
[[ 9.81281184e-01 -2.82129676e-02 -1.90502670e-01  1.57317891e+02]
 [ 2.98787849e-02  9.99536251e-01  5.87711218e-03 -4.36733199e+00]
 [ 1.90248514e-01 -1.14590879e-02  9.81669085e-01  3.02034856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.424860624 meters
Centerline goodness : 0.999764 with order 1
Centerline is valid?  [True, True]
Translation: X:157.37, Y:-4.37, Z:30.21
[[ 9.81314445e-01 -2.70312842e-02 -1.90502676e-01  1.57374436e+02]
 [ 2.86750809e-02  9.99571509e-01  5.87692278e-03 -4.36987911e+00]
 [ 1.90262186e-01 -1.12297888e-02  9.81669085e-01  3.02145346e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.484860624 meters
Centerline goodness : 0.999647 with order 1
Centerline is valid?  [True, True]
Translation: X:157.43, Y:-4.37, Z:30.23
[[ 9.81344461e-01 -2.59073423e-02 -1.90504223e-01  1.57432385e+02]
 [ 2.75204366e-02  9.99604261e-01  5.82631872e-03 -4.37138386e+00]
 [ 1.90277889e-01 -1.09603850e-02  9.81669086e-01  3.02266667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.54486062399997 meters
Centerline goodness : 0.999794 with order 1
Centerline is valid?  [True, True]
Translation: X:157.49, Y:-4.37, Z:30.24
[[ 9.81439498e-01 -2.20038903e-02 -1.90505488e-01  1.57491199e+02]
 [ 2.35362858e-02  9.99706247e-01  5.78468330e-03 -4.37359675e+00]
 [ 1.90322241e-01 -1.01611083e-02  9.81669087e-01  3.02390627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.60486062399997 meters
Centerline goodness : 0.999764 with order 1
Centerline is valid?  [True, True]
Translation: X:157.55, Y:-4.37, Z:30.25
[[ 9.81494450e-01 -1.93975924e-02 -1.90505585e-01  1.57549195e+02]
 [ 2.08808575e-02  9.99765255e-01  5.78149336e-03 -4.37475781e+00]
 [ 1.90348717e-01 -9.65242360e-03  9.81669087e-01  3.02490339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.66486062399997 meters
Centerline goodness : 0.999704 with order 1
Centerline is valid?  [True, True]
Translation: X:157.61, Y:-4.37, Z:30.26
[[ 9.81528601e-01 -1.75806347e-02 -1.90505973e-01  1.57606902e+02]
 [ 1.90275909e-02  9.99802317e-01  5.76866634e-03 -4.37389608e+00]
 [ 1.90366897e-01 -9.28698073e-03  9.81669087e-01  3.02595301e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.72486062399997 meters
Centerline goodness : 0.999703 with order 1
Centerline is valid?  [True, True]
Translation: X:157.67, Y:-4.37, Z:30.27
[[ 9.81625663e-01 -1.08821780e-02 -1.90506261e-01  1.57665175e+02]
 [ 1.22025555e-02  9.99908961e-01  5.75915131e-03 -4.37007354e+00]
 [ 1.90426245e-01 -7.97799395e-03  9.81669087e-01  3.02724741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.78486062399998 meters
Centerline goodness : 0.999403 with order 1
Centerline is valid?  [True, True]
Translation: X:157.72, Y:-4.37, Z:30.28
[[ 9.81674028e-01 -4.83825269e-03 -1.90506414e-01  1.57724705e+02]
 [ 6.04505671e-03  9.99965173e-01  5.75408967e-03 -4.36660286e+00]
 [ 1.90471939e-01 -6.80026246e-03  9.81669087e-01  3.02845428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.84486062399998 meters
Centerline goodness : 0.999606 with order 1
Centerline is valid?  [True, True]
Translation: X:157.78, Y:-4.36, Z:30.29
[[ 9.81671516e-01  5.32251102e-03 -1.90506443e-01  1.57784347e+02]
 [-4.30527355e-03  9.99974183e-01  5.75313453e-03 -4.36189061e+00]
 [ 1.90532145e-01 -4.82750595e-03  9.81669087e-01  3.02942436e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.90486062399998 meters
Centerline goodness : 0.999665 with order 1
Centerline is valid?  [True, True]
Translation: X:157.84, Y:-4.36, Z:30.31
[[ 9.81645019e-01  8.96199590e-03 -1.90506535e-01  1.57843305e+02]
 [-8.01321840e-03  9.99951361e-01  5.75006039e-03 -4.36165293e+00]
 [ 1.90548801e-01 -4.11794766e-03  9.81669087e-01  3.03061397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 159.96486062399998 meters
Centerline goodness : 0.999636 with order 1
Centerline is valid?  [True, True]
Translation: X:157.90, Y:-4.36, Z:30.32
[[ 9.81642049e-01  9.27968549e-03 -1.90506629e-01  1.57902178e+02]
 [-8.33743690e-03  9.99948729e-01  5.74694477e-03 -4.36490954e+00]
 [ 1.90550192e-01 -4.05310563e-03  9.81669087e-01  3.03161521e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.02486062399998 meters
Centerline goodness : 0.999393 with order 1
Centerline is valid?  [True, True]
Translation: X:157.96, Y:-4.37, Z:30.33
[[ 9.81636563e-01  9.83923572e-03 -1.90506817e-01  1.57959645e+02]
 [-8.90863089e-03  9.99943839e-01  5.74071494e-03 -4.36819966e+00]
 [ 1.90552602e-01 -3.93814077e-03  9.81669087e-01  3.03264810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.084860624 meters
Centerline goodness : 0.999483 with order 1
Centerline is valid?  [True, True]
Translation: X:158.02, Y:-4.37, Z:30.34
[[ 9.81652786e-01  8.05323709e-03 -1.90507092e-01  1.58016801e+02]
 [-7.09110139e-03  9.99958432e-01  5.73156033e-03 -4.37124172e+00]
 [ 1.90545331e-01 -4.27549706e-03  9.81669087e-01  3.03387996e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.144860624 meters
Centerline goodness : 0.999457 with order 1
Centerline is valid?  [True, True]
Translation: X:158.07, Y:-4.37, Z:30.35
[[ 9.81675969e-01  4.34211119e-03 -1.90508366e-01  1.58074002e+02]
 [-3.31905140e-03  9.99978310e-01  5.68890506e-03 -4.37338904e+00]
 [ 1.90528936e-01 -4.95235433e-03  9.81669088e-01  3.03511488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.204860624 meters
Centerline goodness : 0.999248 with order 1
Centerline is valid?  [True, True]
Translation: X:158.13, Y:-4.38, Z:30.36
[[ 9.81683398e-01 -1.94700534e-03 -1.90509619e-01  1.58132691e+02]
 [ 3.07910591e-03  9.99979317e-01  5.64665493e-03 -4.37663476e+00]
 [ 1.90494684e-01 -6.12982670e-03  9.81669089e-01  3.03609217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.26486062399997 meters
Centerline goodness : 0.999011 with order 1
Centerline is valid?  [True, True]
Translation: X:158.19, Y:-4.38, Z:30.37
[[ 9.81652507e-01 -8.02504487e-03 -1.90509721e-01  1.58192228e+02]
 [ 9.26973554e-03  9.99941111e-01  5.64321256e-03 -4.38014817e+00]
 [ 1.90453215e-01 -7.30564849e-03  9.81669089e-01  3.03703261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.32486062399997 meters
Centerline goodness : 0.998748 with order 1
Centerline is valid?  [True, True]
Translation: X:158.25, Y:-4.38, Z:30.38
[[ 9.81514242e-01 -1.83251305e-02 -1.90509798e-01  1.58251107e+02]
 [ 1.97611498e-02  9.99788818e-01  5.64059926e-03 -4.38396048e+00]
 [ 1.90366201e-01 -9.30102118e-03  9.81669089e-01  3.03774470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.38486062399997 meters
Centerline goodness : 0.998093 with order 1
Centerline is valid?  [True, True]
Translation: X:158.31, Y:-4.38, Z:30.39
[[ 9.81312676e-01 -2.70453313e-02 -1.90509793e-01  1.58308744e+02]
 [ 2.86437028e-02  9.99573769e-01  5.64078566e-03 -4.38433384e+00]
 [ 1.90276035e-01 -1.09922803e-02  9.81669089e-01  3.03908174e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.44486062399997 meters
Centerline goodness : 0.997678 with order 1
Centerline is valid?  [True, True]
Translation: X:158.37, Y:-4.38, Z:30.40
[[ 9.81134315e-01 -3.28857600e-02 -1.90509797e-01  1.58366993e+02]
 [ 3.45927690e-02  9.99385573e-01  5.64064713e-03 -4.38437136e+00]
 [ 1.90207245e-01 -1.21244938e-02  9.81669089e-01  3.04033627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.50486062399997 meters
Centerline goodness : 0.994334 with order 1
Centerline is valid?  [True, True]
Translation: X:158.43, Y:-4.38, Z:30.41
[[ 9.80777138e-01 -4.22159150e-02 -1.90509898e-01  1.58426849e+02]
 [ 4.40957747e-02  9.99011404e-01  5.63722559e-03 -4.38246573e+00]
 [ 1.90083580e-01 -1.39295435e-02  9.81669089e-01  3.04143917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.56486062399998 meters
Centerline goodness : 0.991174 with order 1
Centerline is valid?  [True, True]
Translation: X:158.49, Y:-4.38, Z:30.43
[[ 9.80450150e-01 -4.92287158e-02 -1.90509941e-01  1.58486543e+02]
 [ 5.12386486e-02  9.98670536e-01  5.63578343e-03 -4.38043590e+00]
 [ 1.89979222e-01 -1.52870766e-02  9.81669089e-01  3.04264010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.62486062399998 meters
Centerline goodness : 0.982020 with order 1
Centerline is valid?  [True, True]
Translation: X:158.55, Y:-4.38, Z:30.44
[[ 9.79890764e-01 -5.93299579e-02 -1.90509964e-01  1.58545062e+02]
 [ 6.15273980e-02  9.98089488e-01  5.63499031e-03 -4.37520441e+00]
 [ 1.89811669e-01 -1.72432574e-02  9.81669089e-01  3.04382805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.68486062399998 meters
Centerline goodness : 0.975871 with order 1
Centerline is valid?  [True, True]
Translation: X:158.61, Y:-4.37, Z:30.45
[[ 9.79608283e-01 -6.38242872e-02 -1.90510033e-01  1.58605047e+02]
 [ 6.61047398e-02  9.97796791e-01  5.63267771e-03 -4.37306489e+00]
 [ 1.89730797e-01 -1.81114339e-02  9.81669089e-01  3.04506811e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.74486062399998 meters
Centerline goodness : 0.967487 with order 1
Centerline is valid?  [True, True]
Translation: X:158.67, Y:-4.37, Z:30.46
[[ 9.79003715e-01 -7.25100359e-02 -1.90509895e-01  1.58665212e+02]
 [ 7.49526124e-02  9.97171162e-01  5.63734099e-03 -4.37082882e+00]
 [ 1.89562209e-01 -1.97981921e-02  9.81669089e-01  3.04586110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.80486062399999 meters
Centerline goodness : 0.962093 with order 1
Centerline is valid?  [True, True]
Translation: X:158.72, Y:-4.37, Z:30.47
[[ 9.78778965e-01 -7.54833024e-02 -1.90509867e-01  1.58724940e+02]
 [ 7.79812282e-02  9.96938884e-01  5.63827231e-03 -4.36972126e+00]
 [ 1.89501099e-01 -2.03748157e-02  9.81669089e-01  3.04702582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.864860624 meters
Centerline goodness : 0.956397 with order 1
Centerline is valid?  [True, True]
Translation: X:158.78, Y:-4.37, Z:30.48
[[ 9.78760040e-01 -7.57283483e-02 -1.90509847e-01  1.58784230e+02]
 [ 7.82309505e-02  9.96919315e-01  5.63894814e-03 -4.36698502e+00]
 [ 1.89495918e-01 -2.04229435e-02  9.81669089e-01  3.04823870e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 SLAMing on 160.924860624 meters
Centerline goodness : 0.951418 with order 1
Centerline is valid?  [True, True]
Translation: X:158.84, Y:-4.37, Z:30.49
[[ 9.78797650e-01 -7.52406688e-02 -1.90509847e-01  1.58844278e+02]
 [ 7.77342228e-02  9.96958170e-01  5.63894814e-03 -4.36640262e+00]
 [ 1.89506070e-01 -2.03285241e-02  9.81669089e-01  3.04945946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

 Total time of SLAM: 3409.27 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!